Reusing Primitive and Acquired Motion Knowledge for Gait Generation of a Six-legged Robot Using Genetic Programming

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@Article{Kurashige:2003:IRS,

• author = "Kentarou Kurashige and Toshio Fukuda and Haruo Hoshino",
• title = "Reusing Primitive and Acquired Motion Knowledge for Gait Generation of a Six-legged Robot Using Genetic Programming",
• journal = "Journal of Intelligent and Robotic Systems",
• year = "2003",
• volume = "38",
• number = "1",
• pages = "121--134",
• month = sep,
• keywords = "genetic algorithms, genetic programming, primitive motion knowledge, acquired motion knowledge, six-legged robot, gait generation",
• DOI = "doi:10.1023/A:1026204313001",
• abstract = "There has been growing interest in motion planning problems for mobile robots. In this field, the main research is to generate a motion for a specific robot and task without previously acquired motions. However it is too wasteful not to use hard-earned acquired motions for other tasks. Here, we focus on a mechanism of reusing acquired motion knowledge and study a motion planning system able to generate and reuse motion knowledge. In this paper, we adopt a tree-based representation for expressing knowledge of motion, and propose a hierarchical knowledge for realizing a reuse mechanism. We construct a motion planning system using hierarchical knowledge as motion knowledge and using genetic programming as a learning method. We apply a proposed method for the gait generation task of a six-legged locomotion robot and show its availability with computer simulation.",
• notes = "Article ID: 5118235",

}

Genetic Programming entries for Kentarou Kurashige Toshio Fukuda Haruo Hoshino

Citations