Generation of optimal fault tolerant locomotion of the hexapod robot over rough terrain using evolutionary programming

Author

Yang, Jung-Min ; Kim, Jong-Hwan

Author_Institution

Dept. of Electr. Eng., Korea Adv. Inst. of Sci. & Technol., Taejon, South Korea

fYear

1997

fDate

13-16 Apr 1997

Firstpage

489

Lastpage

494

Abstract

Extends the authors´ previous (1996) results on optimal fault-tolerant locomotion of the hexapod walking robot over even terrain by generalizing the shape of the ground. A method of searching for the optimal or near-optimal fault-tolerant sequence of free gaits over rough terrain using evolutionary programming is proposed. Based on the sequence of gaits derived on the even terrain, the proposed algorithm searches for foothold positions that guarantee optimal locomotion and that maintain a non-negative fault stability margin. The effectiveness of the proposed algorithm is demonstrated with computer simulations

Keywords

control system analysis computing; digital simulation; fault tolerant computing; genetic algorithms; legged locomotion; optimal control; robot programming; search problems; sequences; stability; computer simulations; evolutionary programming; foothold positions; free gait sequence; generalized ground shape; hexapod robot; nonnegative fault stability margin; optimal fault-tolerant locomotion; rough terrain; search algorithm; walking robot; Fault tolerance; Genetic programming; Gravity; Leg; Legged locomotion; Mobile robots; Robot kinematics; Robot programming; Shape; Stability;

fLanguage

English

Publisher

ieee

Conference_Titel

Evolutionary Computation, 1997., IEEE International Conference on

Conference_Location

Indianapolis, IN

Print_ISBN

0-7803-3949-5

Type

conf

DOI

10.1109/ICEC.1997.592360

Filename

592360