基于遗传算法的腿式跳跃机器人上肢运动优化

Upper Limbs Motion Optimization for Legged Jumping Robot Based on GA

针对腿式跳跃机器人,提出了最优跳跃性能下的上肢运动优化方法。上肢运动是刻画跳跃机器人性能的关键因素之一。以跳跃性能为优化目标,地面反力冲量作评价函数,关节力矩为优化变量,运用遗传算法,分析了上肢运动对跳跃性能的影响程度。仿真实验表明,该多约束任务下的运动优化方法是有效可行的。

A motion optimization method was proposed for legged jumping robot under optimal jumping performance. Upper limbs swing is one of the key factors. Considering the ground reaction force between robot and environment, the objective function is jumping performance. Upper limbs motion was optimized using genetic algorithm （GA）. Simulation resuIts show that the presented method of multi-constraints optimization is effective.