Please use this identifier to cite or link to this item: http://hdl.handle.net/1822/37066

TitleHead motion stabilization during quadruped robot locomotion: Combining CPGs and stochastic optimization methods
Author(s)Oliveira, M.
Santos, C. P.
Costa, L.
Rocha, Ana Maria A. C.
Ferreira, M.
Issue date2013
PublisherIGI Global
Abstract(s)In this work, the authors propose a combined approach based on a controller architecture that is able to generate locomotion for a quadruped robot and a global optimization algorithm to generate head movement stabilization. The movement controllers are biologically inspired in the concept of Central Pattern Generators (CPGs) that are modelled based on nonlinear dynamical systems, coupled Hopf oscillators. This approach allows for explicitly specified parameters such as amplitude, offset and frequency of movement and to smoothly modulate the generated oscillations according to changes in these parameters. The overall idea is to generate head movement opposed to the one induced by locomotion, such that the head remains stabilized. Thus, in order to achieve this desired head movement, it is necessary to appropriately tune the CPG parameters. Three different global optimization algorithms search for this best set of parameters. In order to evaluate the resulting head movement, a fitness function based on the Euclidean norm is investigated. Moreover, a constraint-handling technique based on tournament selection was implemented.
TypeBook part
URIhttp://hdl.handle.net/1822/37066
ISBN9781466642553
DOI10.4018/978-1-4666-4253-9.ch003
Peer-Reviewedyes
AccessRestricted access (UMinho)
Appears in Collections:CAlg - Livros e capítulos de livros/Books and book chapters

Files in This Item:
File Description SizeFormat 
f3.pdf
  Restricted access
125,93 kBAdobe PDFView/Open

Partilhe no FacebookPartilhe no TwitterPartilhe no DeliciousPartilhe no LinkedInPartilhe no DiggAdicionar ao Google BookmarksPartilhe no MySpacePartilhe no Orkut
Exporte no formato BibTex mendeley Exporte no formato Endnote Adicione ao seu ORCID