Research on Torque Optimization of Biped Wall Climbing Robot Based on Genetic Algorithm

Abstract

At present, methods guaranteeing reliable adsorption of biped wall climbing robot can be divided into two types: structural innovation design and improved control strategy, however, there are some problems such as increasing volume, energy consumption and limited scope of application. Aiming at the reliable adsorption problem of biped wall climbing robot, a torque optimization method based on genetic algorithm is proposed. Based on the analysis of the relationship between the adsorption load and the reliability index, the adsorption reliability and the compliance index are taken into account and the genetic algorithm is used to get the global optimization solutions so as to achieve comprehensive optimization. The simulation and analysis of the proposed method are carried out, and the prototype experiments are conducted in the simulated environment of vertical steel wall in the lab. The results show that the method is effective for improving the adsorption reliability of biped wall-climbing robot.