使用 Jaya 多目标优化算法优化蜘蛛机器人的行走步态

IF 2.1 Q3 ROBOTICS
Nguyen Tien Dat, Ho Pham Huy Anh
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引用次数: 0

摘要

四条腿必须按照一定的模式运动,以确保四足机器人有条不紊地行走,并消耗更少的能量。这在今天仍然是一个具有挑战性的问题,因为结构极其复杂、运动极其精确的四足动物是现有技术无法实现的。本文提出了一种蜘蛛机器人步态生成模型,研究稳定性和速度之间的保证。首先,通过四个步态参数--垂直步长、水平步长、抬腿和屈膝,主动确定机器蜘蛛的运动规则。同时,三阶插值函数决定了每条腿的臀部和脚部的运动轨迹。通过应用分析方法解决逆运动学问题,将利用蜘蛛机器人四条腿的髋关节和脚的轨迹推导出这些位置的十二个关节角度轨迹。然后,根据蜘蛛机器人的步态特征(步态参数、CoP/ZMP 轨迹),提出速度和稳定性的多目标函数,通过分析解决正向运动学问题来训练步态生成模型。最后,利用多目标 MO-Jaya 优化技术找到四个最佳步态参数,使蜘蛛机器人以最快的速度执行稳定的行走步态。仿真/实验结果表明,B3-SBOT 在稳定行走的同时以最快的速度移动。
本文章由计算机程序翻译,如有差异,请以英文原文为准。

Spider robot walking gait optimization using Jaya multi-objective optimization algorithm

Spider robot walking gait optimization using Jaya multi-objective optimization algorithm

The legs must move in a pattern to ensure that a four-legged robot walks organically and uses less energy. This is still a challenging issue today since four-legged creatures with incredibly complicated structures and precise motions are beyond the reach of current technology. This paper proposes a gait generation model for a spider robot that examines the guarantee between stability and speed. First, the robot spider’s movement rules are initiatively determined via four gait parameters—vertical step length, horizontal step length, leg lift, and knee bend. Meanwhile, the 3rd-order interpolation function determines the trajectory of the hips and feet at each leg. By applying analytical methods to solve the inverse kinematics issue, the orbits of the hips and feet at the four legs of the spider robot will be used to deduce twelve joint angle orbits at those locations. Then, a multi-objective function is proposed regarding both speed and stability based on the gait characteristics (gait parameters, CoP/ZMP trajectory) of the spider robot as to train the gait generation model by addressing the forward kinematics issue analytically. Finally, the multi-object MO-Jaya optimization technique is used to find four optimal gait parameters so that the spider robot performs a stable walking gait at the fastest speed. This proposal is implemented for the experiment B3-SBOT spider robot, simulation/experiment outcomes show that B3-SBOT moves at its fastest feasible speed while walking stably.

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来源期刊
CiteScore
3.80
自引率
5.90%
发文量
50
期刊介绍: The International Journal of Intelligent Robotics and Applications (IJIRA) fosters the dissemination of new discoveries and novel technologies that advance developments in robotics and their broad applications. This journal provides a publication and communication platform for all robotics topics, from the theoretical fundamentals and technological advances to various applications including manufacturing, space vehicles, biomedical systems and automobiles, data-storage devices, healthcare systems, home appliances, and intelligent highways. IJIRA welcomes contributions from researchers, professionals and industrial practitioners. It publishes original, high-quality and previously unpublished research papers, brief reports, and critical reviews. Specific areas of interest include, but are not limited to:Advanced actuators and sensorsCollective and social robots Computing, communication and controlDesign, modeling and prototypingHuman and robot interactionMachine learning and intelligenceMobile robots and intelligent autonomous systemsMulti-sensor fusion and perceptionPlanning, navigation and localizationRobot intelligence, learning and linguisticsRobotic vision, recognition and reconstructionBio-mechatronics and roboticsCloud and Swarm roboticsCognitive and neuro roboticsExploration and security roboticsHealthcare, medical and assistive roboticsRobotics for intelligent manufacturingService, social and entertainment roboticsSpace and underwater robotsNovel and emerging applications
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