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,
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author = "Kentarou Kurashige and Toshio Fukuda and
Haruo Hoshino",
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title = "Reusing Primitive and Acquired Motion Knowledge for
Gait Generation of a Six-legged Robot Using Genetic
Programming",
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journal = "Journal of Intelligent and Robotic Systems",
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year = "2003",
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volume = "38",
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number = "1",
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pages = "121--134",
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month = sep,
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keywords = "genetic algorithms, genetic programming, primitive
motion knowledge, acquired motion knowledge, six-legged
robot, gait generation",
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DOI = "doi:10.1023/A:1026204313001",
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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.",
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notes = "Article ID: 5118235",
- }
Genetic Programming entries for
Kentarou Kurashige
Toshio Fukuda
Haruo Hoshino
Citations