Journal of Institute of Control, Robotics and Systems (제어로봇시스템학회논문지)

Institute of Control, Robotics and Systems (제어로봇시스템학회)
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Automatic Gait Generation for Quadruped Robot Using a GP Based Evolutionary Method in Joint Space

관절 공간에서의 GP 기반 진화기법을 이용한 4족 보행로봇의 걸음새 자동생성

  • 서기성 (서경대학교 전자공학과) ;
  • 현수환 (서경대학교 전자공학과)
  • Published : 2008.06.01
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Abstract

This paper introduces a new approach to develop a fast gait for quadruped robot using GP(genetic programming). Planning gaits for legged robots is a challenging task that requires optimizing parameters in a highly irregular and multidimensional space. Several recent approaches have focused on using GA(genetic algorithm) to generate gait automatically and shown significant improvement over previous results. Most of current GA based approaches used pre-selected parameters, but it is difficult to select the appropriate parameters for the optimization of gait. To overcome these problems, we proposed an efficient approach which optimizes joint angle trajectories using genetic programming. Our GP based method has obtained much better results than GA based approaches for experiments of Sony AIBO ERS-7 in Webots environment.

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References

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