Multi-objective dynamic gait parameters optimization for biped robot based on constraint satisfaction
基于约束满足的多目标双足机器人动态步态参数优化*

Current gait optimization algorithm only achieved a single objective optimization, this article took the biped robot gait optimization as multi-objective optimization problem,constructed three objective evaluation functions about stability,power consumption and walking speed. Considering the weighted summation of fitness functions can not handle commendably the problem about multiple conflicting objectives, this paper proposed a new kind of multi-objective gait parameter optimization algorithm based on constraint satisfaction, Its idea is that applying SPEA2 based on penalty function to multi-objective biped robot dynamic gait parameter optimization problem. And planning out dynamic optimization gait meeting the three conflicting objectives. The simulation experiments show the validity of this algorithm.