Iterated local search(ILS)is used to construct the optimal experimental designs for multi-dimensional constrained spaces,in which the inner loop is based on the stochastic coordinate-exchange(SCE)algorithm.Every time ...Iterated local search(ILS)is used to construct the optimal experimental designs for multi-dimensional constrained spaces,in which the inner loop is based on the stochastic coordinate-exchange(SCE)algorithm.Every time a local optimal solution is found by the SCE algorithm,the perturbation operator is applied to it,and then a new solution is explored in the areas where the exchange of coordinates may produce improvement,so as to retain the features and attributes of the current optimal solution and avoid the defects of random restart.We implement the iterated local coordinate-exchange algorithm for experimental designs in the multi-dimensional constrained spaces.In addition,sensitivity analysis was conducted to analyze the impacts of the parameters on the performance of the proposed algorithm.Also we compared the performance of the proposed algorithm to the SCE algorithm using the random restart strategy.The analysis shows that the proposed algorithm is better than the SCE algorithm in terms of efficiency and quality,especially in the experimental designs for high-dimensional constrained space.展开更多
Most existing legged robots are developed under laboratory environments and, corre- spondingly, have good performance of locomotion. The robots＇ ability of walking on rough terrain is of great importance but is seldo...Most existing legged robots are developed under laboratory environments and, corre- spondingly, have good performance of locomotion. The robots＇ ability of walking on rough terrain is of great importance but is seldom achieved. Being compliant to external unperceived impacts is cru- cial since it is unavoidable that the slip, modeling errors and imprecise information of terrain will make planned trajectories to be followed with errors and unpredictable contacts. The impedance control gives an inspiration to realize an active compliance which allows the legged robots to follow reference trajectories and overcome external disturbances. In this paper, a novel impedance force/ position control scheme is presented, which is based on Cartesian force measurement of leg＇ s end effector for our hydraulic quadruped robot The simulation verifies the efficiency of the impedance model, and the experimental results at the end demonstrate the feasibility of the proposed control scheme.展开更多
基金This work was supported by the National Natural Science Foundation of China(72171231).
文摘Iterated local search(ILS)is used to construct the optimal experimental designs for multi-dimensional constrained spaces,in which the inner loop is based on the stochastic coordinate-exchange(SCE)algorithm.Every time a local optimal solution is found by the SCE algorithm,the perturbation operator is applied to it,and then a new solution is explored in the areas where the exchange of coordinates may produce improvement,so as to retain the features and attributes of the current optimal solution and avoid the defects of random restart.We implement the iterated local coordinate-exchange algorithm for experimental designs in the multi-dimensional constrained spaces.In addition,sensitivity analysis was conducted to analyze the impacts of the parameters on the performance of the proposed algorithm.Also we compared the performance of the proposed algorithm to the SCE algorithm using the random restart strategy.The analysis shows that the proposed algorithm is better than the SCE algorithm in terms of efficiency and quality,especially in the experimental designs for high-dimensional constrained space.
基金Supported by the National High Technology Research and Development Program of China(863Program)(2011AA041002)
文摘Most existing legged robots are developed under laboratory environments and, corre- spondingly, have good performance of locomotion. The robots＇ ability of walking on rough terrain is of great importance but is seldom achieved. Being compliant to external unperceived impacts is cru- cial since it is unavoidable that the slip, modeling errors and imprecise information of terrain will make planned trajectories to be followed with errors and unpredictable contacts. The impedance control gives an inspiration to realize an active compliance which allows the legged robots to follow reference trajectories and overcome external disturbances. In this paper, a novel impedance force/ position control scheme is presented, which is based on Cartesian force measurement of leg＇ s end effector for our hydraulic quadruped robot The simulation verifies the efficiency of the impedance model, and the experimental results at the end demonstrate the feasibility of the proposed control scheme.
