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ICRA
2010
IEEE

A distributed strategy for gait adaptation in modular robots

10 years 1 months ago
A distributed strategy for gait adaptation in modular robots
Abstract— In this paper we study online gait optimization for modular robots. The learning strategy we apply is distributed, independent on robot morphology, and easy to implement. First we demonstrate how the strategy allows an ATRON robot to adapt to faults and changes in its morphology and we study the strategy’s scalability. Second we extend the strategy to learn the parameters of gait-tables for ATRON and M-TRAN robots. We conclude that the presented strategy is effective for online learning of gaits for most types of modular robots and that learning can effectively be distributed by having independent processes learning in parallel.
David Johan Christensen, Ulrik Pagh Schultz, Kaspe
Added 26 Jan 2011
Updated 26 Jan 2011
Type Journal
Year 2010
Where ICRA
Authors David Johan Christensen, Ulrik Pagh Schultz, Kasper Støy
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