CAJ | 학술논문

针对仿人机器人的倒地运动控制,用经典的参数化优化方法求得最优控制函数的一个近似解.然后,利用参数化控制及强化技术,基于几个分段的常数去逼近最优解,再将最优控制问题转化为一系列参数优化问题.利用该方法提出了仿人机器人倒地优化控制算法,并与遗传算法进行了比较.最后,通过仿真对算法进行了验证.
침대방인궤기인적도지운동공제,용경전적삼수화우화방법구득최우공제함수적일개근사해.연후,이용삼수화공제급강화기술,기우궤개분단적상수거핍근최우해,재장최우공제문제전화위일계렬삼수우화문제.이용해방법제출료방인궤기인도지우화공제산법,병여유전산법진행료비교.최후,통과방진대산법진행료험증.
For falling motion control of humanoid robot, an approximate solution of optimal control function is obtained with classic parametric optimization methods. Based on parametric control and enhancing technique, the piece-wise constant value is used to approach the optimal solution. Then, the optimal control problem can be transformed into the parameter optimization problems. Moreover, an optimal control algorithm of falling motion for humanoid robot is proposed based on this method, and comparison with GA (genetic algorithm) is proposed. Finally, this algorithm is validated by simulation.