Assessment of the performance of walking robots by multicriteria optimization of their parameters and algorithms of motion
- Autores: Briskin E.1, Kalinin Y.1, Maloletov A.1, Shurygin V.1
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Afiliações:
- Volgograd State Technical University
- Edição: Volume 56, Nº 2 (2017)
- Páginas: 334-342
- Seção: Robotics
- URL: https://journals.rcsi.science/1064-2307/article/view/219872
- DOI: https://doi.org/10.1134/S1064230717020058
- ID: 219872
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Resumo
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.
Sobre autores
E. Briskin
Volgograd State Technical University
Autor responsável pela correspondência
Email: dtm@vstu.ru
Rússia, Volgograd, 400005
Ya. Kalinin
Volgograd State Technical University
Email: dtm@vstu.ru
Rússia, Volgograd, 400005
A. Maloletov
Volgograd State Technical University
Email: dtm@vstu.ru
Rússia, Volgograd, 400005
V. Shurygin
Volgograd State Technical University
Email: dtm@vstu.ru
Rússia, Volgograd, 400005
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