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GECCO
2008
Springer

Genetic programming based automatic gait generation for quadruped robots

10 years 17 days ago
Genetic programming based automatic gait generation for quadruped robots
This paper introduces a new approach to develop a fast gait for quadruped robot using genetic programming (GP). Several recent approaches have focused on the genetic algorithm (GA) to generate a 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. Categories and Subject Descriptors I.2.9 [Artificial Intelligence]: Robotics General Terms Algorithms, Design, Performance Keywords Genetic Programming, Quadruped R...
Kisung Seo, Soohwan Hyun
Added 09 Nov 2010
Updated 09 Nov 2010
Type Conference
Year 2008
Where GECCO
Authors Kisung Seo, Soohwan Hyun
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