DocumentCode :
2437853
Title :
Gait synthesis for a three-legged robot using Learning Automata
Author :
Santos, Jeeves Lopes dos ; Nascimento, Cairo Lúcio, Jr.
Author_Institution :
Lab. of Intell. Machines (LMI), Aeronaut. Inst. of Technol. (ITA), São José dos Campos, Brazil
fYear :
2011
fDate :
20-23 June 2011
Firstpage :
271
Lastpage :
276
Abstract :
This article presents a solution to the problem of gait synthesis for a three-legged robot with three actuators in each leg. In other words, it is shown how to coordinate the robot leg actuators in order to maximize the robot walking speed. The position in time of each leg actuator is described by a periodic function that is found by using a reinforcement learning technique called Learning Automata. MATLAB/Simulink and the SimMechanics Toolbox are used to simulate possible solutions for the problem and the simulated robot response is evaluated at the end of each trial. After the reinforcement learning algorithm converges to a solution, it is applied to the real robot that was built using the Bioloid Comprehensive Kit, an educational robot kit manufactured by Robotis. The response of the real robot is then evaluated and compared with the simulated robot response. It is shown that proposed solution generates a quite satisfactory gait for the real robot.
Keywords :
actuators; educational robots; gait analysis; learning (artificial intelligence); legged locomotion; position control; robot programming; velocity control; Matlab; Robotis; SimMechanics Toolbox; Simulink; actuators; bioloid comprehensive kit; educational robot kit; gait synthesis; learning automata; reinforcement learning; robot walking speed; three-legged robot; Actuators; Convergence; Joints; Legged locomotion; Robot kinematics; Vectors;
fLanguage :
English
Publisher :
ieee
Conference_Titel :
Advanced Robotics (ICAR), 2011 15th International Conference on
Conference_Location :
Tallinn
Print_ISBN :
978-1-4577-1158-9
Type :
conf
DOI :
10.1109/ICAR.2011.6088586
Filename :
6088586
Link To Document :
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