Parameter design of biped robot motion system based on multi-objective optimization

Abstract

In recent years humanoid robots have been widely used in toy, performance, education and other service industries, but most biped robots walk slowly and have poor stability. The reason is that the driver parameters of the robot cannot properly match the walking gait algorithm, and the insufficient performance of the robot driver leads to the poor motion capability of the robot. In this paper, the optimization design process of biped robot parameters is studied and expounded, and its motion capability is improved by optimizing the driving parameters of the robot. Firstly, the contradiction between walking speed, stability and driver performance of biped robot is analysed. The performance evaluation functions of the three are further established, and the optimal parameter design to a certain extent is realized based on the multi-objective optimization method. Finally, combining with the physical simulation engine, the design parameters are simulated and checked, and the robot design process is completed through the guidance of simulation results.

Detection and Analysis of Bionic Motion Pose of Single Leg and Hip Joint Based on Random Process

“…Existing mobile robots are generally footed or wheeled robots. The footed robot can walk stably in a complex environment, cross large trenches and steps, and move flexibly ( Leng et al, 2021 ). However, the level of the existing mechanism leads to a generally low speed of movement; the wheeled robot is relatively easy to drive and control, has a high speed of movement on flat ground, is responsive, and has high stability ( Chen et al, 2021a ; Zheng et al, 2021 ; Chen et al, 2022a ).…”