Research of Motion Control for Humanoid Robot Based on Parametric Optimum

ZHONG Qiu-bo; PIAO Song-hao; YANG Bin

doi:10.3969/j.issn.0372-2112.2012.06.014

您当前的位置：

首页 >

文章列表页 >

Research of Motion Control for Humanoid Robot Based on Parametric Optimum

更新时间：2025-07-16

- Research of Motion Control for Humanoid Robot Based on Parametric Optimum
- Acta Electronica Sinica Vol. 40, Issue 6, Pages: 1154-1158(2012)
- 作者机构：
  
  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
  4. 宁波工程学院电子与信息工程学院浙江宁波,315016
  5. 哈尔滨工业大学计算机科学与技术学院黑龙江哈尔滨,150001
  6. 中国船舶重工集团公司第703研究所黑龙江哈尔滨,150001
- 作者简介：
- 基金信息：
  
  National Natural Science Foundation of China (No.61075077);Program supported by Natural Science Foundation of Heilongjiang Province (No.F201030)
- DOI：10.3969/j.issn.0372-2112.2012.06.014
  CLC： TP242
- Published：2012
- 稿件说明：
移动端阅览
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.
DOI：

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. DOI： 10.3969/j.issn.0372-2112.2012.06.014.

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.

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.

关键词

Keywords

references

Views

下载量

CSCD

Alert me when the article has been cited

提交

Tools

Publicity Resources

Satellite Security Transmission Optimization Algorithm for Joint Anomaly Detection

Optimal Directed Control of Discrete Event Systems Based on Reinforcement Learning

Mathematical Description for Information Pattern of Discrete-Time Two-Person Stochastic Differential Games

Related Author

HOU Rong-hui

WANG Ding-xuan

HUANG Chen

HU Yu-hong

WANG De-guang

YANG Ming

WANG Xi

FONT

Related Institution

School of Cyber Engineering, Xidian University

The Electrical Engineering College, Guizhou University

School of Eletro-Mechanical Engineering, Xidian University

(ATR lab of National University of Defense Technology，，，)

Department of Cyber Engineering, Xidian University

⁰