Journal of System Simulation >
Research on Multi-objective Gait Planning of Biped Robot Based on Virtual Prototype
Received date: 2023-10-20
Revised date: 2023-12-14
Online published: 2024-12-20
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.
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 . DOI: 10.16182/j.issn1004731x.joss.23-1270
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