Research on torque optimization of biped wall climbing robot based on genetic algorithm

Qiang Zhan; Lei Yang; Yin Zhang; Yijun Ma; Ahmed Rahmani

doi:10.1109/ICCTEC.2017.00227

Research on torque optimization of biped wall climbing robot based on genetic algorithm

Qiang Zhan
, Lei Yang
, Yin Zhang
, Yijun Ma
, Ahmed Rahmani

机械工程及自动化学院

Beihang University
Ecole Centrale de Lille

科研成果: 书/报告/会议事项章节 › 会议稿件 › 同行评审

3 引用（Scopus）

摘要

At present, methods guaranteeing reliable adsorption of biped wall climbing robot can be divided into two types: structural innovation design and improved control strategy, however, there are some problems such as increasing volume, energy consumption and limited scope of application. Aiming at the reliable adsorption problem of biped wall climbing robot, a torque optimization method based on genetic algorithm is proposed. Based on the analysis of the relationship between the adsorption load and the reliability index, the adsorption reliability and the compliance index are taken into account and the genetic algorithm is used to get the global optimization solutions so as to achieve comprehensive optimization. The simulation and analysis of the proposed method are carried out, and the prototype experiments are conducted in the simulated environment of vertical steel wall in the lab. The results show that the method is effective for improving the adsorption reliability of biped wall-climbing robot.

源语言	英语
主期刊名	Proceedings - 2017 International Conference on Computer Technology, Electronics and Communication, ICCTEC 2017
出版商	Institute of Electrical and Electronics Engineers Inc.
页	1030-1035
页数	6
ISBN（电子版）	9781538657843
DOI	https://doi.org/10.1109/ICCTEC.2017.00227
出版状态	已出版 - 12月 2017
活动	2017 International Conference on Computer Technology, Electronics and Communication, ICCTEC 2017 - Dalian, 中国期限: 18 12月 2017 → 20 12月 2017

出版系列

姓名	Proceedings - 2017 International Conference on Computer Technology, Electronics and Communication, ICCTEC 2017

会议

会议	2017 International Conference on Computer Technology, Electronics and Communication, ICCTEC 2017
国家/地区	中国
市	Dalian
时期	18/12/17 → 20/12/17

联合国可持续发展目标

此成果有助于实现下列可持续发展目标：

可持续发展目标 7 经济适用的清洁能源

访问文件

10.1109/ICCTEC.2017.00227

其它文件与链接

链接到 Scopus 的出版物

引用此

Zhan, Q., Yang, L., Zhang, Y., Ma, Y., & Rahmani, A. (2017). Research on torque optimization of biped wall climbing robot based on genetic algorithm. 在 Proceedings - 2017 International Conference on Computer Technology, Electronics and Communication, ICCTEC 2017 (页码 1030-1035). 文章 8789151 (Proceedings - 2017 International Conference on Computer Technology, Electronics and Communication, ICCTEC 2017). Institute of Electrical and Electronics Engineers Inc.. https://doi.org/10.1109/ICCTEC.2017.00227

Zhan, Qiang ; Yang, Lei ; Zhang, Yin 等. / Research on torque optimization of biped wall climbing robot based on genetic algorithm. Proceedings - 2017 International Conference on Computer Technology, Electronics and Communication, ICCTEC 2017. Institute of Electrical and Electronics Engineers Inc., 2017. 页码 1030-1035 (Proceedings - 2017 International Conference on Computer Technology, Electronics and Communication, ICCTEC 2017).

@inproceedings{7226eb09ff854961ac20686dc9c57550,

title = "Research on torque optimization of biped wall climbing robot based on genetic algorithm",

abstract = "At present, methods guaranteeing reliable adsorption of biped wall climbing robot can be divided into two types: structural innovation design and improved control strategy, however, there are some problems such as increasing volume, energy consumption and limited scope of application. Aiming at the reliable adsorption problem of biped wall climbing robot, a torque optimization method based on genetic algorithm is proposed. Based on the analysis of the relationship between the adsorption load and the reliability index, the adsorption reliability and the compliance index are taken into account and the genetic algorithm is used to get the global optimization solutions so as to achieve comprehensive optimization. The simulation and analysis of the proposed method are carried out, and the prototype experiments are conducted in the simulated environment of vertical steel wall in the lab. The results show that the method is effective for improving the adsorption reliability of biped wall-climbing robot.",

keywords = "Adsorption reliability, Biped wall climbing robot, Genetic algorithm, Torque optimization",

author = "Qiang Zhan and Lei Yang and Yin Zhang and Yijun Ma and Ahmed Rahmani",

note = "Publisher Copyright: {\textcopyright} 2017 IEEE.; 2017 International Conference on Computer Technology, Electronics and Communication, ICCTEC 2017 ; Conference date: 18-12-2017 Through 20-12-2017",

year = "2017",

month = dec,

doi = "10.1109/ICCTEC.2017.00227",

language = "英语",

series = "Proceedings - 2017 International Conference on Computer Technology, Electronics and Communication, ICCTEC 2017",

publisher = "Institute of Electrical and Electronics Engineers Inc.",

pages = "1030--1035",

booktitle = "Proceedings - 2017 International Conference on Computer Technology, Electronics and Communication, ICCTEC 2017",

address = "美国",

}

Zhan, Q, Yang, L, Zhang, Y, Ma, Y & Rahmani, A 2017, Research on torque optimization of biped wall climbing robot based on genetic algorithm. 在 Proceedings - 2017 International Conference on Computer Technology, Electronics and Communication, ICCTEC 2017., 8789151, Proceedings - 2017 International Conference on Computer Technology, Electronics and Communication, ICCTEC 2017, Institute of Electrical and Electronics Engineers Inc., 页码 1030-1035, 2017 International Conference on Computer Technology, Electronics and Communication, ICCTEC 2017, Dalian, 中国, 18/12/17. https://doi.org/10.1109/ICCTEC.2017.00227

Research on torque optimization of biped wall climbing robot based on genetic algorithm. / Zhan, Qiang; Yang, Lei; Zhang, Yin 等.
Proceedings - 2017 International Conference on Computer Technology, Electronics and Communication, ICCTEC 2017. Institute of Electrical and Electronics Engineers Inc., 2017. 页码 1030-1035 8789151 (Proceedings - 2017 International Conference on Computer Technology, Electronics and Communication, ICCTEC 2017).

科研成果: 书/报告/会议事项章节 › 会议稿件 › 同行评审

TY - GEN

T1 - Research on torque optimization of biped wall climbing robot based on genetic algorithm

AU - Zhan, Qiang

AU - Yang, Lei

AU - Zhang, Yin

AU - Ma, Yijun

AU - Rahmani, Ahmed

PY - 2017/12

Y1 - 2017/12

N2 - At present, methods guaranteeing reliable adsorption of biped wall climbing robot can be divided into two types: structural innovation design and improved control strategy, however, there are some problems such as increasing volume, energy consumption and limited scope of application. Aiming at the reliable adsorption problem of biped wall climbing robot, a torque optimization method based on genetic algorithm is proposed. Based on the analysis of the relationship between the adsorption load and the reliability index, the adsorption reliability and the compliance index are taken into account and the genetic algorithm is used to get the global optimization solutions so as to achieve comprehensive optimization. The simulation and analysis of the proposed method are carried out, and the prototype experiments are conducted in the simulated environment of vertical steel wall in the lab. The results show that the method is effective for improving the adsorption reliability of biped wall-climbing robot.

AB - At present, methods guaranteeing reliable adsorption of biped wall climbing robot can be divided into two types: structural innovation design and improved control strategy, however, there are some problems such as increasing volume, energy consumption and limited scope of application. Aiming at the reliable adsorption problem of biped wall climbing robot, a torque optimization method based on genetic algorithm is proposed. Based on the analysis of the relationship between the adsorption load and the reliability index, the adsorption reliability and the compliance index are taken into account and the genetic algorithm is used to get the global optimization solutions so as to achieve comprehensive optimization. The simulation and analysis of the proposed method are carried out, and the prototype experiments are conducted in the simulated environment of vertical steel wall in the lab. The results show that the method is effective for improving the adsorption reliability of biped wall-climbing robot.

KW - Adsorption reliability

KW - Biped wall climbing robot

KW - Genetic algorithm

KW - Torque optimization

UR - https://www.scopus.com/pages/publications/85071293266

U2 - 10.1109/ICCTEC.2017.00227

DO - 10.1109/ICCTEC.2017.00227

M3 - 会议稿件

AN - SCOPUS:85071293266

T3 - Proceedings - 2017 International Conference on Computer Technology, Electronics and Communication, ICCTEC 2017

SP - 1030

EP - 1035

BT - Proceedings - 2017 International Conference on Computer Technology, Electronics and Communication, ICCTEC 2017

PB - Institute of Electrical and Electronics Engineers Inc.

T2 - 2017 International Conference on Computer Technology, Electronics and Communication, ICCTEC 2017

Y2 - 18 December 2017 through 20 December 2017

ER -

Zhan Q, Yang L, Zhang Y, Ma Y, Rahmani A. Research on torque optimization of biped wall climbing robot based on genetic algorithm. 在 Proceedings - 2017 International Conference on Computer Technology, Electronics and Communication, ICCTEC 2017. Institute of Electrical and Electronics Engineers Inc. 2017. 页码 1030-1035. 8789151. (Proceedings - 2017 International Conference on Computer Technology, Electronics and Communication, ICCTEC 2017). doi: 10.1109/ICCTEC.2017.00227

Research on torque optimization of biped wall climbing robot based on genetic algorithm

摘要

出版系列

会议

联合国可持续发展目标

访问文件

其它文件与链接

指纹

引用此