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Genetic programming based automatic gait generation for quadruped robots

Published:12 July 2008Publication History

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.

References

  1. 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 ScholarGoogle ScholarDigital LibraryDigital Library
  2. 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 ScholarGoogle ScholarCross RefCross Ref
  3. Chen, W. Odometry Calibration and Gait Optimisation. Technical Report, The University of New South Wales, School of Computer Science and Engineering, 2005.Google ScholarGoogle Scholar
  4. Mericli, T., Akin, H. L., Mericli, C., Kaplan, K., Celik, B. The Cerberus'05 Team Report.Google ScholarGoogle Scholar
  5. 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 ScholarGoogle ScholarCross RefCross Ref

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  1. Genetic programming based automatic gait generation for quadruped robots

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        • Published in

          cover image ACM Conferences
          GECCO '08: Proceedings of the 10th annual conference on Genetic and evolutionary computation
          July 2008
          1814 pages
          ISBN:9781605581309
          DOI:10.1145/1389095
          • Conference Chair:
          • Conor Ryan,
          • Editor:
          • Maarten Keijzer

          Copyright © 2008 ACM

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          Association for Computing Machinery

          New York, NY, United States

          Publication History

          • Published: 12 July 2008

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          Overall Acceptance Rate1,669of4,410submissions,38%

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