Utilize este identificador para referenciar este registo:
https://hdl.handle.net/1822/51625
Título: | Genetic programming applied to biped locomotion control with sensory information |
Autor(es): | Ferreira, César Silva, Pedro André Moreira André, João Santos, Cristina Costa, Lino |
Palavras-chave: | Biped locomotion CPG (Central pattern generator) Sensory information |
Data: | 2014 |
Editora: | IEEE |
Resumo(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. |
Tipo: | Artigo em ata de conferência |
URI: | https://hdl.handle.net/1822/51625 |
ISBN: | 9789897580390 |
Arbitragem científica: | yes |
Acesso: | Acesso restrito UMinho |
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Ficheiros deste registo:
Ficheiro | Descrição | Tamanho | Formato | |
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d44.pdf Acesso restrito! | 711 kB | Adobe PDF | Ver/Abrir |