Research on trajectory optimization of the 8-bar mechanism of walking robot legs based on curve segmentation algorithm
ZOU Youwei
SUN Wei
ZHANG Jiali
LI Yuanzhi
Abstract：[Objective]Aiming at the complex nonlinear relation between motion and parameters of planar eight-bar mechanisms,as well as the problems of redundant design parameters,cumbersome constraint conditions and point sequence matching errors in traditional trajectory optimization,a starting point optimization algorithm combined with curve segmentation was proposed to improve the trajectory synthesis accuracy.[Methods]Firstly,a mathematical model of the eight-bar mechanism for the leg of a walking robot was constructed,and an algorithm combining starting point optimization and curve segmentation was proposed.Secondly,taking the tracking error after segmentation as the objective function,genetic algorithm(GA),particle swarm optimization(PSO)algorithm and artificial hummingbird algorithm(AHA)were adopted to optimize the rod length and angle parameters.Finally,verification was carried out through calculation examples of 6-point,8-point and cross trajectories.[Results]The proposed algorithm simplifies the optimization parameters and breaks through the restriction of sequence constraints.Among the algorithms,AHA achieves the optimal optimization effect,with the 6-point target trajectory error as low as 0.026 8(dimensionless).The results verify the rationality of the proposed algorithm,which provides reference for the trajectory synthesis of planar eight-bar mechanisms.
Keywords：Walking robotCurve segmentation algorithmTrajectory optimization
Publication Date：2025-12-15
Online Publishing Date：2026-09-12(First online date of this platform, not the publication date of the document)
Pages：8( 31-37,64 )