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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
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
AccessRestricted access (UMinho)
Appears in Collections:CAlg - Artigos em livros de atas/Papers in proceedings

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