Assessment of the performance of walking robots by multicriteria optimization of their parameters and algorithms of motion
- Authors: Briskin E.S.1, Kalinin Y.V.1, Maloletov A.V.1, Shurygin V.A.1
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Affiliations:
- Volgograd State Technical University
- Issue: Vol 56, No 2 (2017)
- Pages: 334-342
- Section: Robotics
- URL: https://journals.rcsi.science/1064-2307/article/view/219872
- DOI: https://doi.org/10.1134/S1064230717020058
- ID: 219872
Cite item
Abstract
A few indicators characterizing the efficiency of mobile robots in general and walking robots in particular, as well as operational (motion comfort and energy efficiency) and structural (pace) indicators are considered. A weighted quality functional of quality is constructed and its extreme value is sought. An analytical solution is obtained making it possible to perform a multicriteria optimization depending on the significance of a given indicator and on this basis to determine the optimal motion modes and the walking mover parameters.
About the authors
E. S. Briskin
Volgograd State Technical University
Author for correspondence.
Email: dtm@vstu.ru
Russian Federation, Volgograd, 400005
Ya. V. Kalinin
Volgograd State Technical University
Email: dtm@vstu.ru
Russian Federation, Volgograd, 400005
A. V. Maloletov
Volgograd State Technical University
Email: dtm@vstu.ru
Russian Federation, Volgograd, 400005
V. A. Shurygin
Volgograd State Technical University
Email: dtm@vstu.ru
Russian Federation, Volgograd, 400005
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