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TitleMulti-objective parameter CPG optimization for gait generation of a quadruped robot considering behavioral diversity
Author(s)Oliveira, Miguel
Santos, Cristina
Costa, L.
Matos, Vítor
Ferreira, Manuel João Oliveira
Issue date2011
JournalIeee International Conference on Intelligent Robots and Systems
Abstract(s)This paper presents a gait multi-objective optimization system that combines bio-inspired Central Patterns Generators (CPGs) and a multi-objective evolutionary algorithm. CPGs are modeled as autonomous differential equations, that generate the necessary limb movement to perform the required walking gait. In order to optimize the walking gait, four conflicting objectives are considered, simultaneously: minimize the body vibration, maximize the velocity, maximize the wide stability margin and maximize the behavioral diversity. The results of NSGA-II for this multi-objective problem are discussed. The effect of the inclusion of a behavioral diversity objective in the system is also studied in terms of the walking gait achieved. The experimental results show the effectiveness of this multi-objective approach. The several walking gait solutions obtained correspond to different trade-off between the objectives.
TypeConference paper
AccessOpen access
Appears in Collections:DEI - Artigos em atas de congressos internacionais

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