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http://dx.doi.org/10.5391/JKIIS.2010.20.5.603

Objects Recognition and Intelligent Walking for Quadruped Robots based on Genetic Programming  

Kim, Young-Kyun (서경대학교 전자공학과)
Hyun, Soo-Hwan (서경대학교 전자공학과)
Jang, Jae-Young (서경대학교 전자공학과)
Seo, Ki-Sung (서경대학교 전자공학과)
Publication Information
Journal of the Korean Institute of Intelligent Systems / v.20, no.5, 2010 , pp. 603-609 More about this Journal
Abstract
This paper introduces an objects recognition algorithm based on SURF(Speeded Up Robust Features) and GP(Genetic Programming) based gaits generation. Combining both methods, a recognition based intelligent walking for quadruped robots is proposed. The gait of quadruped robots is generated by means of symbolic regression for each joint trajectories using GP. A position and size of target object are recognized by SURF which enables high speed feature extraction, and then the distance to the object is calculated. Experiments for objects recognition and autonomous walking for quadruped robots are executed for ODE based Webots simulation and real robot.
Keywords
Objects Recognition; Intelligent walking; Genetic Programming; SURF; Gait Generation;
Citations & Related Records
Times Cited By KSCI : 2  (Citation Analysis)
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