Evolving Feasible Gaits for a Hexapod Robot by Reducing the Space of Possible Solutions

被引：7

作者：

Belter, Dominik ^{[1
]}

Kasinski, Andrzej ^{[1
]}

Skrzypczynski, Piotr ^{[1
]}

机构：

[1] Poznan Univ Tech, Inst Control & Informat Engn, PL-60965 Poznan, Poland

来源：

2008 IEEE/RSJ INTERNATIONAL CONFERENCE ON ROBOTS AND INTELLIGENT SYSTEMS, VOLS 1-3, CONFERENCE PROCEEDINGS | 2008年

关键词：

D O I：

10.1109/IROS.2008.4650813

中图分类号：

TP18 [人工智能理论];

学科分类号：

081104 ; 0812 ; 0835 ; 1405 ;

摘要：

The objective of this paper is to develop feasible gait patterns that could be used to control a real hexapod walking robot. These gaits should enable the fastest movement that is possible with the given robot mechanics and drives on a flat terrain. We show in a series of evolutionary simulations how a gradual reduction of the permissible state space of the movements of the robot legs leads to the proper leg trajectories for a hexapod robot This strategy enables the learning system to discover feasible gaits, using only simple dependencies between the control signals of the legs and a simple fitness function. Finally, a stable and fast tripod gait evolved in simulation is shown in an experiment on the real walking robot Ragno.

引用

页码：2673 / 2678

页数：6

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