The invention relates to the technical field of quadruped robot control, in particular to a quadruped robot inverse kinematics optimization method based on an improved beetle antennae algorithm, and the method comprises the steps: building a robot model; taking the angle vector of the inner joint of each foot of the robot model as the mass center position of the longhorn beetle, and constructing a fitness function; according to the method, the longhorn beetle algorithm is improved and iterated based on the fitness function and the robot model to obtain a longhorn beetle optimization result, the longhorn beetle algorithm is improved and iterated by using the fitness function and the robot model, the later convergence speed of the improved longhorn beetle algorithm can be increased, the oscillation phenomenon in the convergence process is inhibited, and the convergence efficiency of the longhorn beetle algorithm is improved. The problem that when a traditional longhorn beetle algorithm is used for solving the inverse kinematics solution of the 12-degree-of-freedom quadruped robot, the obtained numerical solution is low in precision is solved.
本发明涉及四足机器人控制技术领域,具体涉及一种基于改进天牛须算法的四足机器人运动学逆解优化方法,包括构建机器人模型;将机器人模型各足的足内关节角度向量作为天牛质心位置,构建适应度函数;基于适应度函数和机器人模型对天牛须算法进行改进和迭代,得到天牛寻优结果,通过使用适应度函数和机器人模型对天牛须算法进行改进和迭代,可使得改进后的天牛须算法的后期收敛速度增加,同时抑制了收敛过程中震荡现象,解决了传统天牛须算法求解12自由度四足机器人运动学逆解时,所得数值解精确度较低的问题。
Quadruped robot inverse kinematics optimization method based on improved beetle antennae algorithm
基于改进天牛须算法的四足机器人运动学逆解优化方法
2022-11-15
Patent
Electronic Resource
Chinese
IPC: | G05D SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES , Systeme zum Steuern oder Regeln nichtelektrischer veränderlicher Größen / B62D MOTOR VEHICLES , Motorfahrzeuge / G06N COMPUTER SYSTEMS BASED ON SPECIFIC COMPUTATIONAL MODELS , Rechnersysteme, basierend auf spezifischen Rechenmodellen |
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