Assessment of the performance of walking robots by multicriteria optimization of their parameters and algorithms of motion

摘要

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.