多目的遺伝的アルゴリズムによるリンク脚機構の設計

抄録

The leg mechanisms affect the performance of the legged robots largely. Among various leg mechanisms, leg mechanisms employing one-degree-of-freedom link mechanisms are superior in terms of light weight and the ease of control. However, it is difficult to design link mechanisms analytically because of nonlinearity of the link mechanisms equation. Despite many methods have been proposed to overcome this problem, it is difficult to design link leg mechanisms using the existing methods. In our previous study, we developed a novel link mechanisms design method using single objective genetic algorithm, which could design proper link leg mechanisms. This paper shows that our method was improved in order to design more practical link leg mechanisms by using NSGA-II, a type of multi objective genetic algorithm, and by incorporating the two additional objectives: lifting the foot higher in swing phase and suppressing body rocking. The design results demonstrate that proposed method can design appropriate link leg mechanisms for various purposes.