摘要： 针对当前仿人机器人步态规划方法模型复杂、人为指定参数过多、计算量大的问题,提出一种基于改进遗传算法的仿人机器人步态规划方法。基于零力矩点稳定性原则,给出仿人机器人动态步态稳定性评价函数。将全向步态分解为直向步行和姿态旋转2个独立分运动,利用三次样条插值对直向步态轨迹进行规划,并给出加入位姿旋转后的合运动解算方法。利用改进遗传算法以步态稳定性和速度为目标对插值参数进行优化。实验结果表明,该方法在保证仿人机器人步态高稳定裕度的前提下,可实现更快速的步行。

关键词: 遗传算法, 仿人机器人, 步态规划, 三次样条插值, 全向步态, 稳定裕度

Abstract: According to the problems of complex model,too many manually specified parameters and huge computation in the existing gait planning method of humanoid robot,this paper puts forward a gait planning method of humanoid robot based on improved Genetic Algorithm(GA).It gives the evaluation function of dynamic gait stability of humanoid robot based on the stability principle of zero moment point,and then divides omnidirectional gait into two separate component movement ——straight walking and pose rotation.Furthermore,it uses cubic spline interpolation to plan the straight gait trajectory and gives the calculating method of resultant movement considering the pose rotation.At last,it optimizes the parameters by the improved genetic algorithm taking the gait stability and speed as goal.Experimental results demonstrate that this method achieves faster walking in premise of high gait stability of humanoid robot.

Key words: Genetic Algorithm(GA), humanoid robot, gait planning, cubic spline interpolation, omnidirectional gait, stability margin

中图分类号: 

• TP301.6