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《Journal of Beijing Information Science & Technology University》 2011-04
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Under-actuated bionic robot motion planning with spline approximation and curve fitting

LI Hong,ZHANG Tian(School of Automation,Beijing Information Science of University and Technology,Beijing 100192,China)  
The motion planning of under-actuated bionic robot which is named Rock Roll Robot(RRRobot) is studied.According to the dynamic equation of RRRobot,curve fitting and spline approximation technique combined with particle swarm optimization algorithm is proposed for optimizing the motion planning of RRRobot to minimize the energy loss.The simulation results show that the algorithm is effective in solving optimization of motion planning,and it improves the terminal configuration of the RRRobot error.
【Fund】: 国家自然科学基金项目(11072038);; 北京市自然科学基金重点项目(B类)(KZ201110772039)
【CateGory Index】: TP242
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