Utilize este identificador para referenciar este registo:
https://hdl.handle.net/1822/15334
Título: | Quadruped robot locomotion using a global optimization stochastic algorithm |
Autor(es): | Oliveira, Miguel Santos, Cristina Costa, L. Ferreira, Manuel João Oliveira |
Palavras-chave: | CPG Optimization algorithm Modular locomotion Rhythmic primitive Discrete primitive |
Data: | 2011 |
Editora: | AIP Publishing |
Revista: | AIP Conference Proceedings |
Resumo(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. |
Tipo: | Artigo em ata de conferência |
URI: | https://hdl.handle.net/1822/15334 |
ISBN: | 9780735409569 |
DOI: | 10.1063/1.3636774 |
ISSN: | 0094-243X |
Versão da editora: | http://dx.doi.org/10.1063/1.3636774 |
Arbitragem científica: | yes |
Acesso: | Acesso aberto |
Aparece nas coleções: | DEI - Artigos em atas de congressos internacionais |
Ficheiros deste registo:
Ficheiro | Descrição | Tamanho | Formato | |
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C55-Quadruped Robot Locomotion using a Global Optimization Stochastic Algorithm.pdf | 411,79 kB | Adobe PDF | Ver/Abrir |