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To improve the stability and smoothness of bionic lower extremity exoskeleton walking gait, the elitist mechanism was introduced to enhance the diversity and improve the search ability of the optimal solution. 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 foraging optimization algorithm was used for the optimization of the bionic lower extremity exoskeleton gait zero moment point stability margin. The simulation results showed that the optimal gait planning method proposed can increase the stability margin and ensure the stable and smooth walking.

Optimal gait planning of bionic lower extremity exoskeleton based on elite mechanism bacterial foraging optimization algorithm