Kinematic arrangement optimization of a quadruped robot with genetic algorithms
نویسندگان
چکیده
منابع مشابه
Locomotion Gait Optimization for a Quadruped Robot
Legged robot gait generation is a challenging task that involves the control of a large number of degrees of freedom (DOF’s) within a mechanical structure that varies during locomotion. A large number of motion parameters have to be considered in order to obtain a stable, natural and efficient locomotion. Legged robot locomotion applies nonlinear dynamical equations of high order with a multidi...
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In this work, it is described a gait multiobjective optimization system that allows to obtain fast but stable robot quadruped crawl gaits. We combine bioinspired Central Patterns Generators (CPGs) and Genetic Algorithms (GA). A motion architecture based on CPGs oscillators is used to model the locomotion of the robot dog and a GA is used to search parameterizations of the CPGs parameters which ...
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In this work we research the role of body dynamics in the complexity of kinematic patterns in a quadruped robot with compliant legs. Two gait patterns, lateral sequence walk and trot, along with leg length control patterns of different complexity were implemented in a modular, feed-forward locomotion controller. The controller was tested on a small, quadruped robot with compliant, segmented leg...
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We present an automated approach to robot and locomotion-controller design optimization, using reinforcement learning methods that have been successfully demonstrated to teach a real prototype quadruped various walking gaits. The same machine learning methods are used here for a different purpose: to optimize robot and locomotion-controller design. Optimization can be used before or after build...
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The problem of tuning nonlinear dynamical systems parameters, such that the attained results are considered good ones, is a relevant one. This article describes the development of a gait optimization system that allows a fast but stable robot quadruped crawl gait. We combine bio-inspired Central Patterns Generators (CPGs) and Genetic Algorithms (GA). CPGs are modelled as autonomous differential...
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ژورنال
عنوان ژورنال: Measurement and Control
سال: 2018
ISSN: 0020-2940
DOI: 10.1177/0020294018795640