Using genetic algorithms to establish efficient walking gaits for an eight-legged robot
Using genetic algorithms to establish efficient walking gaits for an eight-legged robot
In the design and development of a legged robot, many factors need to be considered. As a consequence, creating a legged robot that can efficiently and autonomously negotiate a wide range of terrain is a challenging task. Many researchers working in the area of legged robotics have traditionally looked towards the natural world for inspiration and solutions, reasoning that these evolutionary solutions are appropriate and effective because they have passed the hard tests for survival over time and generations. This paper reports the use of genetically inspired learning strategies, commonly referred to as genetic algorithms, as an evolutionary design tool for improving the design and performance of an algorithm for controlling the leg stepping sequences of a walking robot. The paper presents a specific case of finding optimal walking gaits for an 8-legged robot called Robug IV and simulated results are provided.
703-713
Luk, B.L.
675a0272-9c35-466d-920f-8b86410b55ff
Galt, S.
9f438f7d-d366-4db1-b457-94b7069968db
Chen, S.
9310a111-f79a-48b8-98c7-383ca93cbb80
June 2001
Luk, B.L.
675a0272-9c35-466d-920f-8b86410b55ff
Galt, S.
9f438f7d-d366-4db1-b457-94b7069968db
Chen, S.
9310a111-f79a-48b8-98c7-383ca93cbb80
Luk, B.L., Galt, S. and Chen, S.
(2001)
Using genetic algorithms to establish efficient walking gaits for an eight-legged robot.
International Journal of Systems Science, 32 (6), .
Abstract
In the design and development of a legged robot, many factors need to be considered. As a consequence, creating a legged robot that can efficiently and autonomously negotiate a wide range of terrain is a challenging task. Many researchers working in the area of legged robotics have traditionally looked towards the natural world for inspiration and solutions, reasoning that these evolutionary solutions are appropriate and effective because they have passed the hard tests for survival over time and generations. This paper reports the use of genetically inspired learning strategies, commonly referred to as genetic algorithms, as an evolutionary design tool for improving the design and performance of an algorithm for controlling the leg stepping sequences of a walking robot. The paper presents a specific case of finding optimal walking gaits for an 8-legged robot called Robug IV and simulated results are provided.
Text
IJSS2001-32-6
- Author's Original
More information
Published date: June 2001
Additional Information:
Address: London
Organisations:
Southampton Wireless Group
Identifiers
Local EPrints ID: 252955
URI: http://eprints.soton.ac.uk/id/eprint/252955
ISSN: 0020-7721
PURE UUID: 1316abaf-be46-4c12-b832-69d9fcc18ad8
Catalogue record
Date deposited: 11 Jul 2001
Last modified: 14 Mar 2024 05:24
Export record
Contributors
Author:
B.L. Luk
Author:
S. Galt
Author:
S. Chen
Download statistics
Downloads from ePrints over the past year. Other digital versions may also be available to download e.g. from the publisher's website.
View more statistics