An Algorithm for Quadruped Robot's Inverse Kinematic Problems Based on PSO

Wei Shen, Min Li, Junzheng Wang, Changkun Chai, Wen Zheng

Research output: Chapter in Book/Report/Conference proceedingConference contributionpeer-review

4 Citations (Scopus)

Abstract

The inverse problem is an essential problem in robot kinematics. In order to deal with the inverse kinematic problems of hydraulic quadruped robot, the motion process of a single leg is modeled, simulated and analyzed. A new method based on particle swarm optimization (PSO) is proposed in this paper to overcome low computational efficiency, long calculation time and accumulative error. The proposed algorithm is attributed to: 1) limit the range of particles initialization; 2) select suitable compressibility factors; 3) employ linear interpolation method to improve the efficiency of the inverse algorithm. The simulation results demonstrate that the developed method can provide enhanced computational efficiency and significantly reduce the calculation time while ensuring the precision requirement, and can also eliminate the accumulative error.

Original languageEnglish
Title of host publicationProceedings of the 37th Chinese Control Conference, CCC 2018
EditorsXin Chen, Qianchuan Zhao
PublisherIEEE Computer Society
Pages5152-5157
Number of pages6
ISBN (Electronic)9789881563941
DOIs
Publication statusPublished - 5 Oct 2018
Event37th Chinese Control Conference, CCC 2018 - Wuhan, China
Duration: 25 Jul 201827 Jul 2018

Publication series

NameChinese Control Conference, CCC
Volume2018-July
ISSN (Print)1934-1768
ISSN (Electronic)2161-2927

Conference

Conference37th Chinese Control Conference, CCC 2018
Country/TerritoryChina
CityWuhan
Period25/07/1827/07/18

Keywords

  • Inverse kinematics
  • Motion optimization
  • Particle swarm optimization
  • Quadruped robot

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