基于遗传算法的双足机器人上楼梯的步态规划

Gait Optimization Based on Genetic Algorithm for a Biped Robot Climbing Upstairs

针对双足机器人上楼梯的步态规划问题 ,应用三次样条插值合成脚踝的运动轨迹 ,并基于加速度分析设计出臀部运动轨迹 ,计算动力学模型得到 ZMP轨迹 ,进而得出机器人步行的稳定性可以表示为关于上体初始位姿的多变量优化问题 .最后应用遗传算法 (genetic algorithm,GA)求解 ,获得稳定性好的优化步态 .机器人上楼梯的动态步行仿真结果表明 ,运用遗传算法可以得到合适的优化轨迹 .

A seven link biped robot model was chosen for gait stability optimization in climbing upstairs. Motions of the feet during a regular step were designed by the 3 rd order spline; motions of the hip were designed through acceleration analysis, and the locus of ZMP was obtained by computing the dynamic model. Thus the gait stability of the biped robot could be shown as a multi variable optimal problem in connection with the placement and the pose of the upper body of the robot. Finally, genetic algorithm (GA) was applied to get the optimal solution. The simulations of the biped robot climbing upstairs showed that the method work satisfactorily.