Research on Multi-objective Gait Planning of Biped Robot Based on Virtual Prototype

doi:10.16182/j.issn1004731x.joss.23-1270

Abstract

Abstract:

A multi-objective gait optimization method based on virtual prototype is proposed to address the difficulty of balancing personalisation and performance in gait planning for bipedal robots. A scale prototype of a planar underactuated biped robot is created according to the body structure of Chinese people, and an identification approach is used to determine the robot's exact inertial parameters. A virtual prototype of the robot is created, and three optimization goals—speed, energy use, and stability are developed. Using the enhanced NSGA-II algorithm, the Pareto optimal solution set for the robot multi-objective gait planning issue is produced. Numerous gaits that conform to the law of human walking and have diversity at different speeds are obtained through the simulation experiment.

Key words: biped robot, gait planning, multi-objective optimization, virtual prototype

CLC Number:

TP242

Zhang Yankai, Wang Xuesong, Jin Yubin, Zhang Dongsheng. Research on Multi-objective Gait Planning of Biped Robot Based on Virtual Prototype[J]. Journal of System Simulation, 2024, 36(12): 2984-2992.

Figures/Tables 12

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参数	结果	参数	结果
I₁/(kg·m²)	0.001 1	m₁/kg	0.28
I₂/(kg·m²)	0.013 1	m₂/kg	1.25
I₃/(kg·m²)	0.012 6	m₃/kg	5.37
h₁/cm	20.99	L₁/cm	23.5
h₂/cm	16.69	L₂/cm	29.6
h₃/cm	8.76	L₃/cm	15.0

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