Please use this identifier to cite or link to this item: http://hdl.handle.net/1822/51625

TitleGenetic programming applied to biped locomotion control with sensory information
Author(s)Ferreira, César
Silva, Pedro André Moreira
André, João
Santos, Cristina
Costa, Lino
KeywordsBiped locomotion
CPG (Central pattern generator)
Sensory information
Issue date2014
PublisherIEEE
Abstract(s)Generating biped locomotion in robotic platforms is hard. It has to deal with the complexity of the tasks which requires the synchronization of several joints, while monitoring stability. Further, it is also expected to deal with the great heterogeneity of existing platforms. The generation of adaptable locomotion further increases the complexity of the task. In this paper, Genetic Programming (GP) is used as an automatic search method for motion primitives of a biped robot, that optimizes a given criterion. It does so by exploring and exploiting the capabilities and particularities of the platform. In order to increase the adaptability of the achieved solutions, feedback pathways were directly included into the evolutionary process through sensory inputs.
TypeConference paper
URIhttp://hdl.handle.net/1822/51625
ISBN9789897580390
Peer-Reviewedyes
AccessRestricted access (UMinho)
Appears in Collections:CAlg - Artigos em livros de atas/Papers in proceedings

Files in This Item:
File Description SizeFormat 
d44.pdf
  Restricted access
711 kBAdobe PDFView/Open    Request a copy!

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