Gait energy optimization of three-limbed robot based on generation algorithm

Five kinds of basic gaits of a three limbed robot are introduced and a gait optimization method of these basic gaits is discussed in detail. By the kinematical and dynamitic analysis, an objective function of gait optimization is set up which can be used to optimize the velocity and power of the three-limbed robot. Then an improved program of generation algorithm is studied which can avoid the problem of premature convergence and obtain credible results. A method of nested optimization of generation algorithm is also developed which improves the precision of generation algorithm with consuming the same time and then the random experiment results performed have proved that the method is effective.