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首页> 外文期刊>Journal Europeen des Systemes Automatises >Numerical method for attitude motion planning of one-legged hopping robot
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Numerical method for attitude motion planning of one-legged hopping robot

机译：单腿跳跃机器人姿态运动规划的数值方法

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摘要

The attitude motion planning for one-legged hopping robot with nonholonomic constraint is studied. Firstly, the dynamic model of the robot is established by using the nonholonomic constraint characteristic. Secondly, the energy consumption of the robot is used as the optimization objective function. Lastly, a numerical algorithm is designed by combining curve fitting method and particle swarm optimization algorithm, which is used to realize the optimal trail of robot's attitude motion by optimizing the objective Junction. The designed algorithm makes use of curve fitting to approach the motion trail of the robot's drivable leg, and the coefficients of the filting polynomial are taken as the optimization parameters which can be obtained by particle swarm optimization algorithm. The main advantage of this method lies in that the initial value and the final value of the optimal control input are all zero, which solves the problem that the initial value and the final value of the control input are not zero in the traditional method, making it convenient to control the motion of the drivable leg by the motor in engineering application. At the end of the study, the effectiveness of this method is proved by the results of the numerical simulation.
机译：研究了非完整约束的单腿跳跃机器人的姿态运动规划。首先，通过使用非完整约束特性来建立机器人的动态模型。其次，机器人的能量消耗用作优化目标函数。最后，通过组合曲线拟合方法和粒子群优化算法来设计一个数值算法，该算法用于通过优化目标交叉来实现机器人姿态运动的最佳跟踪。设计的算法利用曲线配件来接近机器人可驱动的腿的运动跟踪，并且将归档多项式的系数作为通过粒子群优化算法获得的优化参数。该方法的主要优点在于，最佳控制输入的初始值和最终值均为零，其解决了传统方法中控制输入的初始值和最终值的问题，使得通过在工程应用中控制可驱动腿的运动方便。在研究结束时，通过数值模拟的结果证明了该方法的有效性。

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