Quadruped robot's efficiency comprehensive evaluation based on modified projection pursuit

摘要

The efficiency index is an important evaluation basis to measure the research level of quadruped robot. For scientific evaluation of quadruped robot with numerous indexes, the research is finished which includes efficiency evaluation index system, comprehensive evaluation method and evaluation result's analysis three parts, and the theoretical basis for robotic design and improvement is provided. First, Analytic Hierarchy Process (AHP) is used to build quadruped robot's index system, describing the efficiency from the abilities of survival, motion, operation, and environment interaction four parts. Then, embedding fuzzy expert evaluation as constraint in projection pursuit, modified projection pursuit with subjective weight constraint is established which combines subjective weighting method with objective weighting method. And then, based on the comprehensive evaluation model, by analyzing rule hierarchy and index hierarchy's influences on its efficiency, SCalf hydraulic drive quadruped robot's efficiency are listed that its comprehensive performance is middle level, and the operation ability is good level, motion ability is mid-low level, and survival ability and environment interaction ability are poor level. Finally, sensitivity analysis of index value is finished to provide the order of the index improvement for decision-makers.