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Improved Particle Swarm Optimization Based on a Humanoid Robot Gait Multi-objective Optimization

Author: ChenQiang
Tutor: ZuoHuaQing
School: South China University of Technology
Course: Applied Computer Technology
Keywords: Humanoid Inverted Pendulum Model Gait Feedback Control ZMP Pareto Domination Improved Multi-objective Particle Swarm Optimization (IMPSO)
CLC: TP242
Type: Master's thesis
Year: 2011
Downloads: 126
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Abstract


Humanoid robot technology research field is the current direction of one of the most active, in which humanoid robots walk gait planning and control of humanoid robot technology is the foundation and focus. For humanoid robot joints have greater flexibility and other characteristics, if the realization of humanoid robot optimal gait planning and control and learning, to ensure stable walking gait, rapid and efficient, a humanoid robot gait planning and control of the new topics.In this paper, a humanoid robot walking gait of multi-objective optimization for target, proposed based on multi-objective particle swarm optimization method for humanoid robot gait multi-objective optimization.Gait planning and control of the text as the main line, the biped robot, inverted pendulum model and sensor information, the feedback control model for the study and analysis of the work carried out as follows.First, this paper first generation of South China University of Technology humanoid robot SCUT-I as the research object, its movement through architecture analysis, the simplified model of the humanoid robot, and on this basis, through the study of humanoid robot Walk theory, its kinematics and dynamics analysis. By momentum, angular momentum and the definition of zero moment point derived SCUT-I of the ZMP and stability equation method for SCUT-I robot to achieve stable, efficient and fast walking provides a basis for kinematics and dynamics.Secondly, the introduction of the three-dimensional characteristics of the linear inverted pendulum and the linear inverted pendulum based on three-dimensional model of a humanoid robot’s gait pattern generation, the introduction of the feet supporting phase, obtained based on three-dimensional inverted pendulum of walking robot unit Control parameters. Meanwhile, in humanoid robots installed accelerometer, angular rate sensors and pressure sensors, these sensors and Kalman filtering were given ZMP of the robot body posture and the method for calculating this information as the robot Sources of information feedback control, feedback control is proposed a general framework and specific control method.Finally, an improved multi-objective particle swarm optimization method to study the improvement strategy, and the humanoid robot off-line walking gait planning and feedback control to establish a multi-objective optimization model, the objective function and constraints appropriate and Created in Matlab and Webots corresponding model, the use of Matlab as a robot controller, in the Webots simulation implementation, verification of the humanoid robot off-line walking gait planning and feedback control with the effectiveness of multi-objective optimization model And improve the multi-objective particle swarm optimization algorithm reliability were verified.

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CLC: > Industrial Technology > Automation technology,computer technology > Automation technology and equipment > Robotics > Robot
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