Biologically Inspired Planning and Optimization of Foot Trajectory of a Quadruped Robot

Huang, Senwei; Zhang, Xiuli

doi:10.1007/978-3-030-89092-6_18

Cited by 7 publications

(3 citation statements)

References 14 publications

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“…e specific principle of PSO algorithm has been described in detail in Ref. [24], so it will not be repeated here. erefore, this paper introduces the PSO algorithm to optimize the initial value and threshold, so as to significantly improve the training and modeling speed, stability, and solution accuracy of the BP neural network.…”

Section: Bp Neural Network and Particle Swarm Optimizationmentioning

confidence: 99%

Research on Customer Perceived Value Evaluation of New Chinese-Style Clothing Based on PSO-BP Neural Network

Shu

2022

Scientific Programming

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In the current era that consumers pursue personalized experience, in order to optimize the customer experience of new Chinese-style clothing products and improve the evaluation procedures of new Chinese-style clothing products, based on the theory of customer perceived value, this paper constructs the evaluation index and evaluation model of new Chinese-style clothing customer perceived value. This study is divided into three stages: firstly, through literature research and interview, thirty-seven elements of the evaluation index of customer perceived value of new Chinese-style clothing are defined; secondly, through questionnaire survey and exploratory factor analysis, seven dimensions of the evaluation index of the customer perceived value of new Chinese-style clothing were extracted, which were cultural and educational value, aesthetic value, creative value, green value, engineering value, social value, and quality value, respectively; thirdly, we propose a PSO-BP neural network to evaluate the customer perceived value of new Chinese-style clothing, and we choose twenty-two and eight new Chinese-style clothing as training samples and test samples, respectively. The experimental results show that the PSO-BP neural network can accurately evaluate the customer perceived value of new Chinese-style clothing, and its error is controlled by 2.5% compared with the traditional BP neural network. The research results show that enterprises can improve the quality of product design through the new Chinese-style clothing customer perceived value evaluation indicators and models, and then improve their sustainable competitive advantage, so as to achieve the sustainable development of the new Chinese-style clothing industry ultimately.

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Section: Bp Neural Network and Particle Swarm Optimizationmentioning

confidence: 99%

Research on Customer Perceived Value Evaluation of New Chinese-Style Clothing Based on PSO-BP Neural Network

Shu

2022

Scientific Programming

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“…Meanwhile, it was controlled by reflection trajectory and body stability was controlled by a posture controller. Huang et al (2021) approached a genetic algorithm during stance phase and swing phase to optimize the galloping trajectory. Marhefka et al (2003) implemented fuzzy control galloping and bounding of multi-robot.…”

Section: Introductionmentioning

confidence: 99%

“…However, the time phase of foot contact with surface and take-off is constant and predetermined. By controlling the parameter of the major and minor axis of elliptical trajectory and rotation velocity, the different styles of galloping types can also be generated (Li et al , 2021; Huang and Zhang, 2021). Semini et al (2011) made a trotting gait with an elliptical trajectory path by central pattern generation.…”

Section: Introductionmentioning

confidence: 99%

Design, analysis and method of foot trajectory generation for quadruped robots in swing-stance phase

Biswal

Mohanty

2022

WJE

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Purpose Legged walking robots have numerous advantages over the wheel or tracked robots due to their strong operational ability and exposure to the complex environment. This paper aims to present details about the mechanical formation and a new conceptual elliptical trajectory generation discussed throughout the paper of the quadruped robot. Design/methodology/approach Initially, a realistic CAD model of the four-legged robot is developed in Solidwork-2019. The proposed model’s forward and inverse kinematics equations are deduced using Denavit–Hartenberg parameters. Based on geometry and kinematics, manipulability and obstacle avoidance are investigated. A method of galloping trajectory is proposed for aiming the increase of upright direction impulse, which is produced by ground reaction force at each step frequency. Furthermore, the locomotion equation of the ellipse trajectory is derived by setting transition angle polynomial of free-fall phase, stance phase and swing phase and the constraints. Findings Finally, a successive simulation on a 2D sagittal plane is performed to check and verify the usefulness of the proposed trajectory. Before the development of the full quadruped, a single prototype leg is generated for experimental verification of the dynamic simulations. Originality/value The proposed trajectory is novel in that it uses force tracking control, which is intended to improve the quadruped robot’s robustness and stability.

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Kinematic analysis and foot end trajectory planning of quadruped wall-climbing robot based on parallel leg structure

Yuan

Hong

2023

J Braz. Soc. Mech. Sci. Eng.

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Biologically Inspired Planning and Optimization of Foot Trajectory of a Quadruped Robot

Cited by 7 publications

References 14 publications

Research on Customer Perceived Value Evaluation of New Chinese-Style Clothing Based on PSO-BP Neural Network

Research on Customer Perceived Value Evaluation of New Chinese-Style Clothing Based on PSO-BP Neural Network

Design, analysis and method of foot trajectory generation for quadruped robots in swing-stance phase

Kinematic analysis and foot end trajectory planning of quadruped wall-climbing robot based on parallel leg structure

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