TY - GEN
T1 - Hydraulic-actuated quadruped robot mechanism design optimization based on particle swarm optimization algorithm
AU - Ma, Ming
AU - Wang, Jianzhong
PY - 2011
Y1 - 2011
N2 - In order to implement the ability of carrying heavy loads and adapting to all kinds of terrain for the quadruped robot with hydraulic actuated which takes mule as the bionic prototype, its mechanism design optimization is studied in this paper. Firstly, by establishing the mathematical model for the quadruped robot, the kinematics and dynamics equations describing its motion status are derived, based on which the foot trajectory of the robot would be planned. Then by choosing the entire minimum of the hydraulic flow of one leg as the objective function, the particle swarm optimization algorithm (PSO) is used to optimize the mechanism design parameters of the robot to get the optimal solutions. Comparing the optimized result with the initial one, the PSO algorithm shows its effectiveness in determining the variables of mechanism design for the robot.
AB - In order to implement the ability of carrying heavy loads and adapting to all kinds of terrain for the quadruped robot with hydraulic actuated which takes mule as the bionic prototype, its mechanism design optimization is studied in this paper. Firstly, by establishing the mathematical model for the quadruped robot, the kinematics and dynamics equations describing its motion status are derived, based on which the foot trajectory of the robot would be planned. Then by choosing the entire minimum of the hydraulic flow of one leg as the objective function, the particle swarm optimization algorithm (PSO) is used to optimize the mechanism design parameters of the robot to get the optimal solutions. Comparing the optimized result with the initial one, the PSO algorithm shows its effectiveness in determining the variables of mechanism design for the robot.
KW - Hydraulic actuation
KW - Mechanism optimization
KW - PSO algorithm
KW - Quadruped robot
UR - http://www.scopus.com/inward/record.url?scp=80053236508&partnerID=8YFLogxK
U2 - 10.1109/AIMSEC.2011.6010070
DO - 10.1109/AIMSEC.2011.6010070
M3 - Conference contribution
AN - SCOPUS:80053236508
SN - 9781457705366
T3 - 2011 2nd International Conference on Artificial Intelligence, Management Science and Electronic Commerce, AIMSEC 2011 - Proceedings
SP - 4026
EP - 4029
BT - 2011 2nd International Conference on Artificial Intelligence, Management Science and Electronic Commerce, AIMSEC 2011 - Proceedings
T2 - 2011 2nd International Conference on Artificial Intelligence, Management Science and Electronic Commerce, AIMSEC 2011
Y2 - 8 August 2011 through 10 August 2011
ER -