Motion planning of limb robot based on progressive variable structure GA

被引：0

作者：

Liu L. ^{[1
,2
]}

Wang L.-H. ^{[1
]}

机构：

[1] College of Engineering and Technology, Northeast Forestry University

[2] College of Management, Harbin University of Commerce

来源：

Harbin Gongcheng Daxue Xuebao/Journal of Harbin Engineering University | 2010年 / 31卷 / 12期

关键词：

Genetic algorithm; Human-robot interface; Limb robot; Motion planning;

D O I：

10.3969/j.issn.1006-7043.2010.12.017

中图分类号：

学科分类号：

摘要：

To make the robot's ends operate while walking, a novel three-limb redundancy robot was proposed. The structure and the human-robot interface design of the three-limb robot were introduced. A progressive genetic planning strategy was developed for the motion planning of the robot, which can map the position and posture in Cartesian space coordinate into the joint space coordinate automatically and effectively. The progressive genetic motion planning is subjected to an oscillation at a local pole in dynamic environment, accordingly a kind of variable structure genetic algorithm was presented on the basis of progressive genetic planning to remedy the flaw effectively. Experimental results show that the progressive genetic planning is effective in static environment, and that the variable structure genetic algorithm is effective for motion planning in dynamic environment.

引用

页码：1662 / 1667

页数：5

共 8 条

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