Abstract
Planning 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 locomotion for a quadruped robot. GA-based approaches seek to optimize a pre-selected set of parameters which include locus of paw and stance parameters of initial position. A GP-based technique is an effective way to generate a few joint trajectories instead of the locus of paw positions and many stance parameters. Optimizations for two proposed methods are executed and analyzed using a Webots simulation of the quadruped robot built by Bioloid. Furthermore, simulation results for the two proposed methods are tested in a real quadruped robot, and the performance and motion features of GA-, GP -based methods are compared.
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Seo, K., Hyun, S. (2010). A Comparative Study between Genetic Algorithm and Genetic Programming Based Gait Generation Methods for Quadruped Robots. In: Di Chio, C., et al. Applications of Evolutionary Computation. EvoApplications 2010. Lecture Notes in Computer Science, vol 6024. Springer, Berlin, Heidelberg. https://doi.org/10.1007/978-3-642-12239-2_37
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DOI: https://doi.org/10.1007/978-3-642-12239-2_37
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