GENERATING HIGH-SPEED THREE-DIMENSIONAL DYNAMIC QUADRUPED WALKING USING AN EVOLUTIONARY SEARCH

Di He, Qining Wang, Chunxia Rong, Guangming Xie

Abstract

This paper presents an evolutionary computation approach to generate three-dimensional fast forward gaits for quadruped robots with three motor-driven joints on each limb. We use linear constraints to reduce the high-dimensional space of parameters in order to generate the speed effectively. Real robot experiments show that the evolutionary approach is effective in developing quadruped gaits. Satisfactory results are obtained in about an hour by the autonomous learning process, which starts with a set of hand-tuned parameters.

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Paper Citation


in Harvard Style

He D., Wang Q., Rong C. and Xie G. (2009). GENERATING HIGH-SPEED THREE-DIMENSIONAL DYNAMIC QUADRUPED WALKING USING AN EVOLUTIONARY SEARCH . In Proceedings of the 6th International Conference on Informatics in Control, Automation and Robotics - Volume 3: ICINCO, ISBN 978-989-8111-99-9, pages 167-172. DOI: 10.5220/0002184301670172


in Bibtex Style

@conference{icinco09,
author={Di He and Qining Wang and Chunxia Rong and Guangming Xie},
title={GENERATING HIGH-SPEED THREE-DIMENSIONAL DYNAMIC QUADRUPED WALKING USING AN EVOLUTIONARY SEARCH},
booktitle={Proceedings of the 6th International Conference on Informatics in Control, Automation and Robotics - Volume 3: ICINCO,},
year={2009},
pages={167-172},
publisher={SciTePress},
organization={INSTICC},
doi={10.5220/0002184301670172},
isbn={978-989-8111-99-9},
}


in EndNote Style

TY - CONF
JO - Proceedings of the 6th International Conference on Informatics in Control, Automation and Robotics - Volume 3: ICINCO,
TI - GENERATING HIGH-SPEED THREE-DIMENSIONAL DYNAMIC QUADRUPED WALKING USING AN EVOLUTIONARY SEARCH
SN - 978-989-8111-99-9
AU - He D.
AU - Wang Q.
AU - Rong C.
AU - Xie G.
PY - 2009
SP - 167
EP - 172
DO - 10.5220/0002184301670172