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http://dx.doi.org/10.5391/JKIIS.2011.21.1.132

Locomotion Control of 4 Legged Robot Using HyperNEAT  

Jang, Jae-Young (서경대학교 전자공학과)
Hyun, Soo-Hwan (서경대학교 전자공학과)
Seo, Ki-Sung (서경대학교 전자공학과)
Publication Information
Journal of the Korean Institute of Intelligent Systems / v.21, no.1, 2011 , pp. 132-137 More about this Journal
Abstract
The walking mobility with stability of 4 legged robots is the distinguished skills for many application areas. Planning gaits of efficient walking for quadruped robots is an important and challenging task. Especially, autonomous generation of locomotion is required to manage various robot models and environments. In this paper, we propose an adaptive locomotion control of 4 legged robot for irregular terrain using HyperNEAT. Generated locomotion is executed and analysed using ODE based Webots simulation for the 4 legged robot which is built by Bioloid.
Keywords
4 Legged Robot; Gait Generation; Hyper NeuroEvolution of Augmenting Topologies; Locomotion Control;
Citations & Related Records
Times Cited By KSCI : 2  (Citation Analysis)
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