Сглаживание траектории центра масс робота методом генетического отбора
DOI:
https://doi.org/10.26577/JMMCS-2019-1-605Ключевые слова:
кинематика шарнирной конструкции, «кинетическая скульптура» Тео Янсена, метод Ньютона, генетический алгоритм, шагающий роботАннотация
В работе рассматривается метод расчёта кинематики шарнирной конструкции и применение генетического алгоритма для обеспечения требуемой траектории движения заданных точек конструкции. Сначала описаны типы звеньев произвольных шарнирных конструкций, их математическое описание и построение на их основе систем нелинейных уравнений, описывающих кинематику шарнирных конструкций. Полученные нелинейные системы решаются многократным применением метода Ньютона для систем нелинейных уравнений. Построенный алгоритм применяется для расчёта кинематики шарнирной конструкции, представляющей собой модель конечности «кинетических скульптур» Тео Янсена. Целью расчёта является подбор оптимальных параметров конечности, которые позволят применить её для модели робота с четырьмя опорными конечностями. Строится функция приспособленности траектории опорной точки и методом генетического отбора подбирается лучшая траектория, которая обеспечивает прямолинейное движение корпуса робота относительно земли. Теоретические расчёты подкрепляются численным моделированием и визуализацией. В конце статьи приводится график, иллюстрирующий успешное применение разработанной модели. На основе теоретических построений создан реальный прототип шагающего робота с четырьмя конечностями методом 3D печати комплектующих и последующей сборки.
Библиографические ссылки
[1] Spagna, Joseph C., Daniel I. Goldman, Pei-Chun Lin, Daniel E. Koditschek, and Robert J. Ful l. "Distributed mechanical feedback in arthropods and robots simplifies control of rapid running on challenging terrain." , Bioinspiration and biomimetics 2(1) (2007): 9-18.
[2] Collins S., Ruina A., Tedrake R. and Wisse M. "Efficient bipedal robots based on passive-dynamic walkers" , Science 307(5712) (2005): 1082-1085.
[3] Gorobchev А.S. "Programmnyiy kompleks rascheta dinamiki i kinematiki mashin kak sistem tverdyih i uprugih tel [The program complex of calculation of dynamics and kinematics of machines as systems of firm and elastic bodies]" , Directory. Engineering Journal with Application 9(90) (2004): 40-43.
[4] Moldovan F. and Dolga V. "Analysis of Jansen walking mechanism using CAD" , Solid State Phenomena. Robotics and Automation Systems 166 (2010): 297-302.
[5] Moldovan F., Dolga V., Ciontos O. and Pop C. "Cad design and analytical model of a twelve bar walking mechanism" , University "Politehnica"of Bucharest Scientific Bulletin, Series D: Mechanical Engineering 73(2) (2011): 35-48.
[6] Pavlovskiy V.E. "O razrabotkah shagayuschih mashin [About the developments of walking machines]" , Preprints of the Keldysh Institute of Applied Mathematics RAS 101 (2013): 101-32.
[7] Akzhalova A., Inoue A. and Mukharsky D. "Intelligent Mobile Agents for Disaster Response: survivor search and simple communication support" , Proceedings of International Symposium on Artificial Life and Robotics AROB 19th (2014): 254-259.
[8] Todd D.J. "Walking machines: an introduction to legged robots" , Springer Science and Business Media, 2013, 189.
[9] Gorinevsky D.M. and Shneider A.Yu. "Force control in locomotion of legged vehicles over rigid and soft surfaces" , Int. J. Robot. Res. 9(2) (1990): 4-23.
[10] Chernyishev V.V. "Opyit ispolzovaniya shagayuschey mashinyi dlya likvidatsii avariynogo razliva nefti [Experience in using a stepping machine to eliminate accidental oil spills]" , Life Safety 5 (2003): 28-30.
[11] Chernyshev V.V. and Gavrilov A.E. "Traction properties of walking machines on underwater soils with a low bearing ability" , In Minerals of the Ocean-7 and Deep-Sea Minerals and Mining-4: abstracts of Int. Conf (2014): 21.
[12] Yoo S.Y., Jun B.H. and Shim H. "Design of static gait algorithm for hexapod subsea walking robot: Crabster" , Transactions of the Korean Society of Mechanical Engineers 38(9) (2014): 989-997.
[13] Jun B.H., Shim H., Kim B., Park J.Y., Baek H., Yoo S. and Lee P.M. "Development of seabed walking robot CR200" , In 2013 MTS/IEEE OCEANS-Bergen (2013): 1-5.
[14] Shim H., Yoo S.Y., Kang H. and Jun B.H. "Development of arm and leg for seabed walking robot CRABSTER200" , Ocean Engineering 116 (2016): 55-67.
[15] Digney B.L. and Penzes S. "High utility robotics in urban combat operations" , CLAWAR-Catilian Italy, 2003.
[16] Shanyigin S.V. "Robotyi, kak sredstvo mehanizatsii selskogo hozyaystva [Robots as a means of mechanization of agriculture]" , News of higher educational institutions. Engineering 3 (2013): 39-42.
[17] Briskin E.S., Shurygin V.A., Chernyshev V.V., Maloletov A.V., Sharonov N.G., Kalinin Ya V., Leonard A.V., Serov
V.A., Mironenko K.B. and Ustinov S.A. "Problems of increasing efficiency and experience of walking machines elaborating" , In Advances on Theory and Practice of Robots and Manipulators. Springer (2014): 383-390.
[18] Silva M.F., Machado J.T. and Lopes A.M. "Energy analysis of multi-legged locomotion systems" , In Proc.
CLAWAR’2001–4th International Symposium on Climbing and Walking Robots (2001): 143-150.
[19] Nolfi S., Floreano D. and Floreano D.D. "Evolutionary robotics: The biology, intelligence, and technology of selforganizing machines" , MIT press, 2000, 320.
[20] Weng J. "Developmental robotics: Theory and experiments" , International Journal of Humanoid Robotics 1(02) (2004): 199-236.
[21] Bongard J. "Morphological change in machines accelerates the evolution of robust behavior" , Proceedings of the National Academy of Sciences 108(4) (2011): 1234-1239.
[22] Bongard J.C. "Morphological and environmental scaffolding synergize when evolving robot controllers: artificial life/robotics/evolvable hardware" , In Proceedings of the 13th annual conference on Genetic and evolutionary computation (2011): 179-186.
[23] Bongard J. "Behavior Chaining-Incremental Behavior Integration for Evolutionary Robotics" , In ALIFE (2008): 64-71.
[24] Jansen T. "Strandbeest,"Accessed February 20, 2019, https://www.strandbeest.com.
[25] Wang C.Y. and Hou J.H. "Analysis and Applications of Theo Jansen’s Linkage MechanismTheo Jansen’s Linkage Mechanism on Kinetic Architecture 2018. - Accessed February 20, 2019,
http://papers.cumincad.org/data/works/att/caadria2018_140.pdf.
[26] Mitchell M. "An introduction to genetic algorithms" , MIT press, 1998, 203.
[27] Haupt R.L. and Haupt S.E. "Practical genetic algorithms" , John Wiley and Sons, 2004, 251.
[28] B¨acher M., Coros S. and Thomaszewski B. "LinkEdit: interactive linkage editing using symbolic kinematics" , ACM Transactions on Graphics (TOG) 34(4) (2015): 99.
[29] Komoda K. and Wagatsuma H. "A proposal of the extended mechanism for Theo Jansen linkage to modify the walking elliptic orbit and a study of cyclic base function" , In Proceedings of the 7th Annual Dynamic Walking Conference (DWC’12) (2012).
[2] Collins S., Ruina A., Tedrake R. and Wisse M. "Efficient bipedal robots based on passive-dynamic walkers" , Science 307(5712) (2005): 1082-1085.
[3] Gorobchev А.S. "Programmnyiy kompleks rascheta dinamiki i kinematiki mashin kak sistem tverdyih i uprugih tel [The program complex of calculation of dynamics and kinematics of machines as systems of firm and elastic bodies]" , Directory. Engineering Journal with Application 9(90) (2004): 40-43.
[4] Moldovan F. and Dolga V. "Analysis of Jansen walking mechanism using CAD" , Solid State Phenomena. Robotics and Automation Systems 166 (2010): 297-302.
[5] Moldovan F., Dolga V., Ciontos O. and Pop C. "Cad design and analytical model of a twelve bar walking mechanism" , University "Politehnica"of Bucharest Scientific Bulletin, Series D: Mechanical Engineering 73(2) (2011): 35-48.
[6] Pavlovskiy V.E. "O razrabotkah shagayuschih mashin [About the developments of walking machines]" , Preprints of the Keldysh Institute of Applied Mathematics RAS 101 (2013): 101-32.
[7] Akzhalova A., Inoue A. and Mukharsky D. "Intelligent Mobile Agents for Disaster Response: survivor search and simple communication support" , Proceedings of International Symposium on Artificial Life and Robotics AROB 19th (2014): 254-259.
[8] Todd D.J. "Walking machines: an introduction to legged robots" , Springer Science and Business Media, 2013, 189.
[9] Gorinevsky D.M. and Shneider A.Yu. "Force control in locomotion of legged vehicles over rigid and soft surfaces" , Int. J. Robot. Res. 9(2) (1990): 4-23.
[10] Chernyishev V.V. "Opyit ispolzovaniya shagayuschey mashinyi dlya likvidatsii avariynogo razliva nefti [Experience in using a stepping machine to eliminate accidental oil spills]" , Life Safety 5 (2003): 28-30.
[11] Chernyshev V.V. and Gavrilov A.E. "Traction properties of walking machines on underwater soils with a low bearing ability" , In Minerals of the Ocean-7 and Deep-Sea Minerals and Mining-4: abstracts of Int. Conf (2014): 21.
[12] Yoo S.Y., Jun B.H. and Shim H. "Design of static gait algorithm for hexapod subsea walking robot: Crabster" , Transactions of the Korean Society of Mechanical Engineers 38(9) (2014): 989-997.
[13] Jun B.H., Shim H., Kim B., Park J.Y., Baek H., Yoo S. and Lee P.M. "Development of seabed walking robot CR200" , In 2013 MTS/IEEE OCEANS-Bergen (2013): 1-5.
[14] Shim H., Yoo S.Y., Kang H. and Jun B.H. "Development of arm and leg for seabed walking robot CRABSTER200" , Ocean Engineering 116 (2016): 55-67.
[15] Digney B.L. and Penzes S. "High utility robotics in urban combat operations" , CLAWAR-Catilian Italy, 2003.
[16] Shanyigin S.V. "Robotyi, kak sredstvo mehanizatsii selskogo hozyaystva [Robots as a means of mechanization of agriculture]" , News of higher educational institutions. Engineering 3 (2013): 39-42.
[17] Briskin E.S., Shurygin V.A., Chernyshev V.V., Maloletov A.V., Sharonov N.G., Kalinin Ya V., Leonard A.V., Serov
V.A., Mironenko K.B. and Ustinov S.A. "Problems of increasing efficiency and experience of walking machines elaborating" , In Advances on Theory and Practice of Robots and Manipulators. Springer (2014): 383-390.
[18] Silva M.F., Machado J.T. and Lopes A.M. "Energy analysis of multi-legged locomotion systems" , In Proc.
CLAWAR’2001–4th International Symposium on Climbing and Walking Robots (2001): 143-150.
[19] Nolfi S., Floreano D. and Floreano D.D. "Evolutionary robotics: The biology, intelligence, and technology of selforganizing machines" , MIT press, 2000, 320.
[20] Weng J. "Developmental robotics: Theory and experiments" , International Journal of Humanoid Robotics 1(02) (2004): 199-236.
[21] Bongard J. "Morphological change in machines accelerates the evolution of robust behavior" , Proceedings of the National Academy of Sciences 108(4) (2011): 1234-1239.
[22] Bongard J.C. "Morphological and environmental scaffolding synergize when evolving robot controllers: artificial life/robotics/evolvable hardware" , In Proceedings of the 13th annual conference on Genetic and evolutionary computation (2011): 179-186.
[23] Bongard J. "Behavior Chaining-Incremental Behavior Integration for Evolutionary Robotics" , In ALIFE (2008): 64-71.
[24] Jansen T. "Strandbeest,"Accessed February 20, 2019, https://www.strandbeest.com.
[25] Wang C.Y. and Hou J.H. "Analysis and Applications of Theo Jansen’s Linkage MechanismTheo Jansen’s Linkage Mechanism on Kinetic Architecture 2018. - Accessed February 20, 2019,
http://papers.cumincad.org/data/works/att/caadria2018_140.pdf.
[26] Mitchell M. "An introduction to genetic algorithms" , MIT press, 1998, 203.
[27] Haupt R.L. and Haupt S.E. "Practical genetic algorithms" , John Wiley and Sons, 2004, 251.
[28] B¨acher M., Coros S. and Thomaszewski B. "LinkEdit: interactive linkage editing using symbolic kinematics" , ACM Transactions on Graphics (TOG) 34(4) (2015): 99.
[29] Komoda K. and Wagatsuma H. "A proposal of the extended mechanism for Theo Jansen linkage to modify the walking elliptic orbit and a study of cyclic base function" , In Proceedings of the 7th Annual Dynamic Walking Conference (DWC’12) (2012).
Загрузки
Опубликован
2019-04-24
Как цитировать
Akzhalova, A., Mukharsky, D., & Sadu, A. (2019). Сглаживание траектории центра масс робота методом генетического отбора. Вестник КазНУ. Серия математика, механика, информатика, 101(1), 96–114. https://doi.org/10.26577/JMMCS-2019-1-605
Выпуск
Раздел
Информатика
