基于参数化最优的仿人机器人倒地运动控制

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．

Falling Motion Control of Humanoid Robot Based on Parametric Optimum

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.