中文摘要：

针对水路两栖模块化可变形机器人工作环境的复杂性和任务多变性，根据其结构和运动特性，提出一种基于高维多目标定向混合进化算法的机器人结构参数优化设计方法，使该型机器人的变形能力和两栖多种运动步态性能达到最优。通过一组方向矢量将搜索空间分解成多个固定寻优方向，并将机器人参数设计的该高维多目标优化问题转化成固定方向上的单目标优化问题；构建混合进化机制加强各方向上最优参数设计方案的搜索能力；以改进的交互式模糊支配和密度估计因子构造精英保留策略，提高设计方案集合的先进性和分布性。试验结果表明，高维多目标定向混合进化算法能够迅速、客观地选择合理的机器人结构参数，可以给设计人员提供更多的选择，为水路两栖可变形机器人的设计提供了一种简单、高效的新方法。

英文摘要：

To implement the performance optimization in the complex environment and task of the amphibious transformable robot, a parameter design of a shape-shifting robot based on high-dimensional multi-objective hybrid evolutionary algorithm is proposed, according to the structure and motion characteristics. The searching space is divided into several directional regions by a group of direction vectors. The many-objective optimization problem of shape-shifting robot is translated into several singe-objective optimization problems in the fixed directions. A hybrid evolutionary strategy is proposed to search for the optimal scheme of the structural parameters. A new elitism strategy based on interactive fuzzy dominance and density estimation factor is utilized to enhance the advancement and the distribution of the population. Experimental results show that high-dimensional multi-objective multi-direction evolutionary algorithm can search the reasonable structural parameters more quickly and objectively, which provided more choices for the designers. The new method is simple and efficient for the structural parameters design of the robot.