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-  2018 

面向舞蹈机器人步态控制的膝关节参数粒子群优化 Particle swarm optimization of knee joint parameters for dancing robot walking gait

Keywords: 舞蹈机器人,腿部模型,粒子群优化,步态控制

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Abstract:

面向舞蹈机器人中常见的行走动作,模仿人类的行走行为,构建舞蹈机器人腿部模型,并设计机器人步态与被模仿者步态的跟踪优化函数,利用粒子群优化方法对步态模型中的膝关节的控制参数进行优化.根据仿真结果,该方法能够在符合机械结构要求的情况下,实现舞蹈机器人对人类步态行为的模拟,达到了良好的步态控制目标,方法可行有效

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