The University of Southampton
University of Southampton Institutional Repository

Using genetic algorithms to establish efficient walking gaits for an eight-legged robot

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), pp. 703-713.

Record type: Article


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.

Postscript - Other
Download (6MB)

More information

Published date: June 2001
Additional Information: Address: London
Organisations: Southampton Wireless Group


Local EPrints ID: 252955
ISSN: 0020-7721
PURE UUID: 1316abaf-be46-4c12-b832-69d9fcc18ad8

Catalogue record

Date deposited: 11 Jul 2001
Last modified: 18 Jul 2017 10:00

Export record


Author: B.L. Luk
Author: S. Galt
Author: S. Chen

University divisions

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

Atom RSS 1.0 RSS 2.0

Contact ePrints Soton:

ePrints Soton supports OAI 2.0 with a base URL of

This repository has been built using EPrints software, developed at the University of Southampton, but available to everyone to use.

We use cookies to ensure that we give you the best experience on our website. If you continue without changing your settings, we will assume that you are happy to receive cookies on the University of Southampton website.