DocumentCode
325164
Title
Evolution of gaits of a legged robot
Author
Gomi, Takashi ; Ide, Koichi
Author_Institution
Appl. AI Syst. Inc., Kanata, Ont., Canada
Volume
1
fYear
1998
fDate
4-9 May 1998
Firstpage
159
Abstract
Gaits of a legged robot were generated from scratch using evolutionary robotic techniques. A physical robot was shared by 50 individuals (software invoked control processes that run the entire robot) in each generation. Each program competed for a better score for its gait and ability to lift the body. A genotype that describes leg motions of each robot was defined and used in behavior generation and reproduction of offspring. An evaluation function that favors early generation of collaborative movements of legs for efficient forward motion of the robot was defined and successfully tested in the experiment
Keywords
cooperative systems; learning systems; legged locomotion; motion control; behavior generation; collaborative movements; evolutionary robotic; gaits; genotype; legged locomotion; mobile robot; motion control; Animals; Collaboration; Learning; Leg; Legged locomotion; Mobile robots; Robot kinematics; Robot sensing systems; Robotics and automation; Wheels;
fLanguage
English
Publisher
ieee
Conference_Titel
Fuzzy Systems Proceedings, 1998. IEEE World Congress on Computational Intelligence., The 1998 IEEE International Conference on
Conference_Location
Anchorage, AK
ISSN
1098-7584
Print_ISBN
0-7803-4863-X
Type
conf
DOI
10.1109/FUZZY.1998.687476
Filename
687476
Link To Document