Journal of Bionic Engineering ›› 2024, Vol. 21 ›› Issue (4): 1747-1760.doi: 10.1007/s42235-024-00538-y
Research on Gait Trajectory Planning of Wall‑Climbing Robot Based on Improved PSO Algorithm
Jian Li1 ; Xianlin Shi1 ; Peng Liang1 ; Yanjun Li1 ; Yilin Lv1 ; Mingyue Zhong1 ; Zezhong Han1
- 1 School of Mechanical and Automotive Engineering, Guangxi University of Science and Technology, Liuzhou 545006, China
Research on Gait Trajectory Planning of Wall‑Climbing Robot Based on Improved PSO Algorithm
Jian Li1 ; Xianlin Shi1 ; Peng Liang1 ; Yanjun Li1 ; Yilin Lv1 ; Mingyue Zhong1 ; Zezhong Han1
- 1 School of Mechanical and Automotive Engineering, Guangxi University of Science and Technology, Liuzhou 545006, China
摘要： In order to reduce the labor intensity of high-altitude workers and realize the cleaning and maintenance of high-rise building exteriors, this paper proposes a design for a 4-DOF bipedal wall-climbing bionic robot inspired by the inchworm’s movement. The robot utilizes vacuum adsorption for vertical wall attachment and legged movement for locomotion. To enhance the robot’s movement efciency and reduce wear on the adsorption device, a gait mimicking an inchworm’s movement is planned, and foot trajectory planning is performed using a quintic polynomial function. Under velocity constraints, foot trajectory optimization is achieved using an improved Particle Swarm Optimization (PSO) algorithm, determining the quintic polynomial function with the best ftness through simulation. Finally, through comparative experiments, the climbing time of the robot closely matches the simulation results, validating the trajectory planning method’s accuracy.