复合运动机器人及运动参数优化

Hybrid mobile robot and the optimization of its motion parameters

介绍了复合运动机器人的概念及运动原理。由于运动参数对机器人运动速度和协调性有着很大的影响,故针对机器人两腿直线滑行时的运动建立等效数学模型,采用遗传算法对腿部运动参数进行优化,获得以稳态速度最大为目标函数的最优参数组合,为后续的控制工作提供了依据。

The concept of hybrid mobile robot and its motion principle is introduced in this paper.As motion parameters have much big influence on robot＇s velocity and the coordination of its legs,the equivalent mathematical model when the robot legs carry out straightforward motion has been established,and leg motion parameters has also been optimized by applying Genetic Algorithm.The optimal parameter combination has been derived by taking the maximum velocity at steady state as objective function,providing basis for the subsequent control work.