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http://dx.doi.org/10.13067/JKIECS.2015.10.9.1039

Stair Locomotion Method of Quadruped Robot Using Genetic Algorithm  

Byun, Jae-Oh (경기대학교 전자공학과)
Choi, Yoon-Ho (경기대학교 전자공학과)
Publication Information
The Journal of the Korea institute of electronic communication sciences / v.10, no.9, 2015 , pp. 1039-1048 More about this Journal
Abstract
In this paper, we propose an efficient stair locomotion method for a quadruped robot with mechanism of insectile legs using genetic algorithm(GA). In the proposed method, we first define the factors and the reachable region for the stair locomotion. In addition, we set the gene and the fitness function for GA and generate the gait trajectory by searching the landing position of a quadruped robot, which has the minimun distance of movement and the optimal energy stability margin(ESM). Finally, we verify the effectiveness and superiority of the proposed stair locomotion method through the computer simulations.
Keywords
Quadruped Robot; Stair Locomotion; Gait Trajectory; Insectile Leg; Genetic Algorithm;
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Times Cited By KSCI : 3  (Citation Analysis)
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