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| 基于参数优化的类机器人运动规划研究 | |
| 引用本文： | 钟秋波,朴松昊,杨滨.基于参数优化的类机器人运动规划研究[J].电子学报,2012,40(6):1154-1158. |
| 作者姓名： | 钟秋波 朴松昊 杨滨 |
| 作者单位： | 1. 宁波工程学院电子与信息工程学院,浙江宁波,315016 2. 哈尔滨工业大学计算机科学与技术学院,黑龙江哈尔滨,150001 3. 中国船舶重工集团公司第703研究所,黑龙江哈尔滨,150001 |
| 基金项目： | 国家自然科学基金资助项目，黑龙江省自然科学基金资助项目 |
| 摘 要： | 在类人机器人的运动过程中,各种不确定因数可能导致其发生摔倒.当摔倒不可避免的情况下,本文研究了类人机器人倒地动作的最优控制问题,通过对倒地动作深入分析,引入一种参数优化技术对倒地动作进行最优控制.针对参数优化方法对求解问题初值的敏感性和在求解二次规划问题(SQP)中的不足,使用初值状态筛选器和一种基于改进的二次规划滤子算法对该方法的寻优过程进行了改进,并和极小值原理控制方法进行了比较.最后仿真和实验显示了本文所提控制方法的有效性. |
| 关 键 词： | 类人机器人 倒地运动 最优控制 参数化优化 |
| 收稿时间： | 2010-10-28 |
Research of Motion Control for Humanoid Robot Based on Parametric Optimum |
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| ZHONG Qiu-bo , PIAO Song-hao , YANG Bin.Research of Motion Control for Humanoid Robot Based on Parametric Optimum[J].Acta Electronica Sinica,2012,40(6):1154-1158. | |
| Authors: | ZHONG Qiu-bo PIAO Song-hao YANG Bin |
| Affiliation: | 1.College of Electronic and Information Engineering,Ningbo University of Technology,Ningbo,Zhejiang 315016,China;2.School of Computer Science and Technology,Harbin Institute of Technology,Harbin,Heilongjiang 150001,China;3.Institute of China Shipbuilding Heavy Industry Group No.703,Harbin,Heilongjiang 150001,China) |
| Abstract: | During the process of motion for humanoid robot,it may fall due to some uncertainty factors.Since the falling is inevitable,research on the optimal control of falling for humanoid robot is achieved.By thorough analysis of falling action,optimal control for falling action based on parameter optimum is proposed.For the sensitivity of initial value of problem and lack of SQP(Sequence of Quadratic Programming) in the parameter optimum method,a filter of initial states is designed and a method based on improved SQP filter algorithm is present to improve the optimization process.The optimization results are obtained by comparing with control of the minimum principle and finally the control method is validated in the simulation and experiment. |
| Keywords: | humanoid robot falling motion optimal control parametric optimum |
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