摘要
对Matsuoka振荡器进行了分析,根据仿人机器人步态规划的要求,选用Matsuoka振荡器构建了中枢模式发生器(CPG)网络;采用遗传算法(GA)来调整网络的参数,解决了关键的网络参数调整的问题;根据CPG网络的输出结果,控制仿人机器人的相应关节,实现了仿人机器人基本步态规划。通过ADAMS进行了仿真,结果表明,该控制策略具有较理想的效果,并且原理简单,易于实现。
The Matsuoka oscillator was analyzed,according to the humanoid robot gait planning requirements,the Matsuoka oscillator was selected to construct the Central Pattern Generator（CPG） network,using genetic algorithms（GA） to adjust the network parameters,the key network parameter adjustment problem was solved;according to the CPG network output results,the humanoid robot relevant joint was controlled,the basic gait planning of the humanoid robot was achieved.Through the ADAMS simulation,the results show that this control strategy has an ideal effect,and the principle is simple,easy to implement.
出处
《电子设计工程》
2011年第13期69-72,共4页
Electronic Design Engineering
