Research And Implementation Of RoboCup3D Soccer Humanoid Robot Gait Optimization

With the advancement of technology and the development of society,robotics technology has become an increasingly popular research field.Humanoid robots are the focus of research in the field of robotics.Motion control has always been one of the hot issues in humanoid robot research,and the walking is the key issue.In complex real-time dynamic environment,how to achieve fast and stable walking motion still lacks a universal solution.Based on the RoboCup simulation 3D game platform,this thesis studies the optimization and realization of fast and stable gait of biped humanoid robots in collision environment from three aspects: kinematics modeling of humanoid robot,gait parameter optimization of humanoid robots and stable walking in collision environment.The main work done in this thesis is as follows:(1)The theory and method of gait planning for humanoid robots are summarized.The key parameters affecting gait speed and stability are selected and classified.The current situation of gait parameter optimization problem is analyzed.The covariance matrix adaptive evolution strategy(CMA-ES)theory is introduced,and the shortcomings of CMA-ES theory applied to this problem are analyzed.(2)In order to realize the fast and stable walking of the humanoid robots,a gait parameter optimization algorithm based on the spiral model is proposed.This algorithm combines the divide-and-conquer method and the spiral model idea,the algorithm divides the gait optimization problem of humanoid robot into three sub-tasks for optimization.According to different optimization objectives,the CMA-ES algorithm optimizer is constructed and spiral iterative optimization is performed.Finally,the optimal parameters are obtained.The algorithm is applied in the HfutEngine simulation3 D team.The relevant gait test data of the robot verifies the effectiveness of the proposed algorithm.(3)In order to solve the fast and stable walking problem of the humanoid robot in the collision environment,a method of external torque correction based on double arm swing is proposed in this thesis.The external torque under collision condition can be eliminated by swinging arm to realize more stable walking of humanoid robot in collision condition.Finally,experiments and related application tests show that the method has a certain effect.