[1]刘莉,王立海.基于渐进式变结构遗传算法的肢体机器人运动规划[J].哈尔滨工程大学学报,2010,(12):1662-1667.[doi:doi:10.3969/j.issn.1006-7043.2010.12.017]
 LIU Li,WANG Li-hai.Motion planning of limb robot based on progressive variable structure GA[J].Journal of Harbin Engineering University,2010,(12):1662-1667.[doi:doi:10.3969/j.issn.1006-7043.2010.12.017]
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基于渐进式变结构遗传算法的肢体机器人运动规划(/HTML)
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《哈尔滨工程大学学报》[ISSN:1006-6977/CN:61-1281/TN]

卷:
期数:
2010年12期
页码:
1662-1667
栏目:
出版日期:
2010-12-25

文章信息/Info

Title:
Motion planning of limb robot based on progressive variable structure GA
文章编号:
1006-7043(2010)12-1662-06
作者:
刘莉王立海
1.东北林业大学工程技术学院,黑龙江哈尔滨150040; 2. 哈尔滨商业大学管理学院,黑龙江哈尔滨150076
Author(s):
LIU Li1; WANG Li-hai2
1.College of Engineering and Technology; Northeast Forestry University; Harbin 150040; China; 2.College of Management; Harbin University of Commerce; Harbin 150076; China
关键词:
肢体机器人人机接口遗传算法运动规划
分类号:
TP24
DOI:
doi:10.3969/j.issn.1006-7043.2010.12.017
文献标志码:
A
摘要:
为使机器人的末端同时具备行走和操作能力,提出一种新颖的三肢体冗余度机器人,并介绍了该机器人的机构以及人机接口的设计.针对该机器人的运动规划提出渐进式遗传规划策略,该策略能够将笛卡尔空间坐标位姿自动、有效地映射到关节空间.在渐进式遗传规划方法的基础上提出一种变结构遗传算法,该算法可用以解决动态环境下渐进式遗传运动规划易陷入局部极小点的问题.实验结果表明渐进式遗传规划方法在静态环境中的有效性,同时也证实了变结构遗传算法对动态环境下进行运动规划的有效性.

参考文献/References:

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更新日期/Last Update: 2011-03-23