GENERATING HIGH-SPEED THREE-DIMENSIONAL DYNAMIC QUADRUPED WALKING USING AN EVOLUTIONARY SEARCH

被引：0

作者：

He, Di ^{[1
]}

Wang, Qining ^{[1
]}

Rong, Chunxia ^{[1
]}

Xie, Guangming ^{[1
]}

机构：

[1] Peking Univ, Intelligent Control Lab, Coll Engn, Beijing 100871, Peoples R China

来源：

ICINCO 2009: PROCEEDINGS OF THE 6TH INTERNATIONAL CONFERENCE ON INFORMATICS IN CONTROL, AUTOMATION AND ROBOTICS, VOL 1: INTELLIGENT CONTROL SYSTEMS AND OPTIMIZATION | 2009年

关键词：

Quadruped walking; Three-dimensional gaits; Evolutionary search; Legged robots; Locomotion;

D O I：

暂无

中图分类号：

TP [自动化技术、计算机技术];

学科分类号：

0812 ;

摘要：

This paper presents an evolutionary computation approach to generate three-dimensional fast forward gaits for quadruped robots with three motor-driven joints on each limb. We use linear constraints to reduce the high-dimensional space of parameters in order to generate the speed effectively. Real robot experiments show that the evolutionary approach is effective in developing quadruped gaits. Satisfactory results are obtained in about an hour by the autonomous learning process, which starts with a set of hand-tuned parameters.

引用

页码：167 / 172

页数：6

共 12 条

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