Abstract
In order to improve the performance of bionic quadruped robot, some parameters of leg structure need to be optimized. The kinematic modeling of the leg mechanism of the bionic quadruped robot is analyzed, and the optimization goal is determined. The simulation analyses showed that the improved bacterial foraging algorithm had higher convergence accuracy, and was not easy to fall into local extremum. The improved multi-strategy bacteria foraging optimization algorithm was used to find the optimal leg structure parameters under the original working space. Numerical simulation verifies that the leg structure designed runs smoothly after optimization, which lays a foundation for further research.
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