Affiliations: [a] School of Computer Science, Harbin Institute of Technology, Harbin, China
| [b] Leju (Shenzhen) Robotics, Shenzhen, China
Correspondence:
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Corresponding author. Songhao Piao, School of Computer Science, Harbin Institute of Technology, Harbin 150001, China. E-mail: piaosh@hit.edu.cn.
Abstract: In recent years humanoid robots have been widely used in toy, performance, education and other service industries, but most biped robots walk slowly and have poor stability. The reason is that the driver parameters of the robot cannot properly match the walking gait algorithm, and the insufficient performance of the robot driver leads to the poor motion capability of the robot. In this paper, the optimization design process of biped robot parameters is studied and expounded, and its motion capability is improved by optimizing the driving parameters of the robot. Firstly, the contradiction between walking speed, stability and driver performance of biped robot is analysed. The performance evaluation functions of the three are further established, and the optimal parameter design to a certain extent is realized based on the multi-objective optimization method. Finally, combining with the physical simulation engine, the design parameters are simulated and checked, and the robot design process is completed through the guidance of simulation results.
Keywords: Humanoid robot, inverted pendulum, multi objective optimization, constraint
