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TitleQuadruped robot locomotion using a global optimization stochastic algorithm
Author(s)Oliveira, Miguel
Santos, Cristina
Costa, L.
Ferreira, Manuel João Oliveira
Optimization algorithm
Modular locomotion
Rhythmic primitive
Discrete primitive
Issue date2011
PublisherAIP Publishing
JournalAIP Conference Proceedings
Abstract(s)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 equations, that generate the necessar y limb movement to perform the required walking gait. The GA finds parameterizations of the CPGs parameters which attain good gaits in terms of speed, vibration and stability. Moreover, two constraint handling techniques based on tournament selection and repairing mechanism are embedded in the GA to solve the proposed constrained optimization problem and make the search more efficient. The experimental results, performed on a simulated Aibo robot, demonstrate that our approach allows low vibration with a high velocity and wide stability margin for a quadruped slow crawl gait.
TypeConference paper
Publisher version
AccessOpen access
Appears in Collections:DEI - Artigos em atas de congressos internacionais

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