CAJ | 학술논문

针对现有步态优化方法中存在的缺点和不足，分析了仿人机器人腿部各关节对步态稳定性的影响，在径向和侧向平面内以机器人步态的ZMP稳定裕度和整体能耗为参数构造目标函数，利用鱼群算法对基于样条插值方法规划的仿人机器人步态进行优化。仿真实验表明，该方法不仅能够获得ZMP稳定裕度大、能耗小的仿人机器人平滑步态，而且相对采用遗传算法对仿人机器人步态优化具有更好的全局搜索能力和更快的寻优速度。
침대현유보태우화방법중존재적결점화불족，분석료방인궤기인퇴부각관절대보태은정성적영향，재경향화측향평면내이궤기인보태적ZMP은정유도화정체능모위삼수구조목표함수，이용어군산법대기우양조삽치방법규화적방인궤기인보태진행우화。방진실험표명，해방법불부능구획득ZMP은정유도대、능모소적방인궤기인평활보태，이차상대채용유전산법대방인궤기인보태우화구유경호적전국수색능력화경쾌적심우속도。
This paper focuses on the shortcomings and deficiencies existing in the present gait optimization method . The influence caused by the leg joints of a humanoid robot on the gait stability is analyzed .In the radial and lateral plane , the ZMP stability margin of the gait of a robot and the integral energy consumption are taken as parameters to form a target function , the fish swarm algorithm is applied to optimize the gait of the humanoid robot programmed on the basis of the spline interpolation method .The simulation experiment shows that , by the use of this method , not on-ly may the smooth gait of a humanoid robot with a large ZMP stability margin and small energy consumption be ob -tained , but also the global search capability has been found to be better and the optimization speed is faster , in com-parison to the optimization of the inheritance algorithm used for the gait optimization of a humanoid robot.