|本期目录/Table of Contents|

[1]李锦钰,白海军,刘玉旺.基于改进粒子群算法的四足机器人步态研究[J].工业仪表与自动化装置,2023,(05):70-75.[doi:10.19950/j.cnki.cn61-1121/th.2023.05.015]
　LI Jinyu,BAI Haijun,LIU Yuwang.Gait study of quadruped robot based on improved particle swarm algorithm[J].Industrial Instrumentation & Automation,2023,(05):70-75.[doi:10.19950/j.cnki.cn61-1121/th.2023.05.015]
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基于改进粒子群算法的四足机器人步态研究

《工业仪表与自动化装置》[ISSN:1000-0682/CN:61-1121/TH]

卷:
期数:
2023年05期
页码:
70-75
栏目:
出版日期:
2023-10-15

文章信息/Info

Title:
Gait study of quadruped robot based on improved particle swarm algorithm
文章编号:
1000-0682（2023）05-0070-06
作者:
李锦钰1; 2 ; 白海军1; 刘玉旺2
1.沈阳化工大学 信息工程学院，辽宁 沈阳 110142;
2.中国科学院沈阳自动化研究所 机器人学研究室，辽宁 沈阳 110016
Author(s):
LI Jinyu1; 2 ;  BAI Haijun1 ; LIU Yuwang2
1. School of Information Engineering,Shenyang University of Chemical Technology,Liaoning Shenyang 110142,China;
2. Shenyang Institute of Automation, Chinese Academy of Sciences, Robotics Research Laboratory, Liaoning Shenyang 110016,China
关键词:
四足机器人; 改进粒子群算法; 类椭圆足端轨迹规划; 动态仿真
Keywords:
quadruped robot; improved particle swarm arithmetic;  similar foot trajectory planning;  dynamic simulation
分类号:
TP242
DOI:
10.19950/j.cnki.cn61-1121/th.2023.05.015
文献标志码:
A
摘要:
为使四足机器人在不配备视觉传感器的情况下，依然能根据地形崎岖的程度调整自身步态规划，以提高在复杂未知地形的稳定性与适应性，提出了基于改进粒子群算法的步态规划方法。对于四足机器人实现快速小跑的过程中，首先提出了一种类椭圆的轨迹生成方法，保证机器人可以在摆动相支撑相相互交换的整个迈步过程连续运动。然而，模仿动物小跑的椭圆轨迹不能保证机体运动的稳定性，基于机体稳定性提出改进粒子群算法，为这种高度非线性系统提供了全局优化的解决方案。最后，在Simlink中建立动态仿真模型，实现在一个运动周期内的对角步态运动。仿真结果表明了对角步态规划方法的可靠性。
Abstract:
A trot gait planning method based on an improved particle swarm algorithm is proposed in order to enable the quadruped robot to adjust its gait planning according to the degree of rougged terrain even when it is not equipped with vision sensors, in order to improve stability and adaptability in complex and unknown terrain. For the quadruped robot to achieve a fast trot, a similar elliptical trajectory generation method is proposed to ensure that the robot can move continuously throughout the stride process where the swing phase and support phases are exchanged with each other. However, the elliptical trajectory imitating the animal trot does not guarantee the stability of the body motion, and an improved particle swarm algorithm is proposed based on the stability of the body to provide a global optimisation solution for this highly non-linear system. Finally, a dynamic simulation model is built in Simlink to realize the trot gait motion in one movement cycle. The simulation results demonstrate the reliability of the diagonal gait planning method.

参考文献/References:

[1] BISWAL Priyaranjan, MOHANTY Prases K. Development of quadruped walking robots: A review[J]. Ain Shams Engineering Journal, 2021, 12(2): 2017-2031.

[2]杨钧杰,孙浩,王常虹,等. 四足机器人研究综述[J]. 导航定位与授时, 2019, 6(5): 61-73.
[3]马慧姝,刘艳霞,方建军,等. 四足仿生机器人仿生足端轨迹规划研究_马慧姝[J]. 东北师大学报(自然科学版), 2019, 51(3): 66-71.
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[7]蒋建新. 一种仿生四足机器人步态规划与运动控制研究 [D].重庆:重庆大学, 2018.
[8]岳天奇. 电动四足机器人单腿设计与轨迹规划研究[D]. 哈尔滨:哈尔滨工业大学, 2019.
[9] BRAHMI Brahim, DRISCOLL Mark, LARAKI Mohamed Hamza, et al. Adaptive high-order sliding mode control based on quasi-time delay estimation for uncertain robot manipulator[J]. Control Theory and Technology, 2020, 18: 279-292.
[10]董红斌,李冬锦,张小平. 一种动态调整惯性权重的粒子群优化算法[J]. 计算机科学, 2018, 45(2): 98-102, 139.
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[12]刘洪铭,曾鸿雁,周伟,等. 基于改进粒子群算法作业车间调度问题的优化[J]. 山东大学学报(工学版), 2019, 49(1): 75-82.
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备注/Memo

备注/Memo:
收稿日期：2023-06-06

基金项目:
面向太空多模态目标捕获的“一源多驱”连续性机器人研究（Y9110303）

第一作者：
李锦钰（1998—），女，山西大同人，硕士在读，主要研究方向为四足机器人步态控制。
更新日期/Last Update: 1900-01-01