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http://dx.doi.org/10.5370/KIEE.2014.63.3.389

Two Evolutionary Gait Generation Methods for Quadruped Robots in Cartesian Coordinates Space and Join Coordinates Space  

Seo, Kisung (Dept. of Electronics Engineering, Seokyeong University)
Publication Information
The Transactions of The Korean Institute of Electrical Engineers / v.63, no.3, 2014 , pp. 389-394 More about this Journal
Abstract
Two evolutionary gait generation methods for Cartesian and Joint coordinates space are compared to develop a fast locomotion for quadruped robots. GA(Genetic Algorithm) based approaches seek to optimize a pre-selected set of parameters for the locus of paw and initial position in cartesian coordinates space. GP(Genetic Programming) based technique generate few joint trajectories using symbolic regression in joint coordinates space as a form of polynomials. Optimization for two proposed methods are executed using Webots simulation for the quadruped robot which is built by Bioloid. Furthermore, simulation results for two proposed methods are analysed in terms of different coordinate spaces.
Keywords
Automatic gait generation; Quadruped robot; Cartesian coordinate; Joint coordinate; Paw locus; Joint trajectory; Genetic algorithm; Genetic programming; Webots simulation;
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