ABSTRACT
This paper introduces a new approach to develop fast gait for quadruped robot using genetic programming (GP). Several recent approaches have focused on using genetic algorithm (GA) to generate gait automatically and shown significant improvements over previous results. Most of current GA based approaches use pre-selected parameters, but it is difficult to select the appropriate parameters for the optimization of gait. To overcome these problems of GA based approach, we proposed an efficient approach which optimizes joint angle trajectories using genetic programming. Our GP based method has obtained much better results than GA based approaches for experiments of Sony AIBO ers-7 in Webots environment. The elite archive mechanism(EAM) was introduced to prevent premature convergence problems in GP and has shown improvements.
- Hornby, G. S., Takamura, S., Yamamoto, T., Fujita, M. Autonomous evolution of dynamic gaits with two quadruped robots. IEEE Trans. Robotics, Vol. 21, No. 3, 2005, 402--410. Google ScholarDigital Library
- Dong, H., Zhao, M., Zhang, J., Shi, Z., Zhang, N. Gait planning of quadruped robot based on third-order spline interpolation. In Proceedings of the 2006 IEEE/RSJ International Conference on Intelligent Robots and Systems(IROS'06), Beijing China October 9 -- 15, 2006.Google ScholarCross Ref
- Chen, W. Odometry Calibration and Gait Optimisation. Technical Report, The University of New South Wales, School of Computer Science and Engineering, 2005.Google Scholar
- Mericli, T., Akin, H. L., Mericli, C., Kaplan, K., Celik, B. The Cerberus'05 Team Report.Google Scholar
- Hohl, L., Tellez, R., Michel, O., Ijspeert, A. J. Aibo and Webots: Simulation, wireless remote control and controller transfer. Robotics and Autonomous Systems, 54, 2006, 472--485.Google ScholarCross Ref
Index Terms
Genetic programming based automatic gait generation for quadruped robots
Recommendations
A comparative study between genetic algorithm and genetic programming based gait generation methods for quadruped robots
EvoApplicatons'10: Proceedings of the 2010 international conference on Applications of Evolutionary Computation - Volume Part IPlanning gaits for legged robots is a challenging task that requires optimizing parameters in a highly irregular and multidimensional space. Two gait generation methods using GA (Genetic Algorithm), GP (genetic programming) are compared to develop fast ...
Tree-structure-aware GP operators for automatic gait generation of quadruped robot
GECCO '09: Proceedings of the 11th Annual Conference Companion on Genetic and Evolutionary Computation Conference: Late Breaking PapersIn this paper, we suggest tree-structure-aware GP operators that heed tree distributions in structure space and their possible structural difficulties. The main idea of the proposed GP operators is to place the generated offspring of crossover and/or ...
Toward automatic gait generation for quadruped robots using cartesian genetic programming
EvoApplications'13: Proceedings of the 16th European conference on Applications of Evolutionary ComputationThis paper introduces a new gait generation method for quadruped robots using CGP (Cartesian Genetic Programming) based on refinement of regression polynomials for a joint trajectory. CGP uses as genotype a linear string of integers that are mapped to a ...
Comments