Genetic Programming Applied to Biped Locomotion Control with Sensory Information

César Ferreira, Pedro Silva, João André, Cristina P. Santos, Lino Costa

Abstract

Generating biped locomotion in robotic platforms is hard. It has to deal with the complexity of the tasks which requires the synchronization of several joints, while monitoring stability. Further, it is also expected to deal with the great heterogeneity of existing platforms. The generation of adaptable locomotion further increases the complexity of the task. In this paper, Genetic Programming (GP) is used as an automatic search method for motion primitives of a biped robot, that optimizes a given criterion. It does so by exploring and exploiting the capabilities and particularities of the platform. In order to increase the adaptability of the achieved solutions, feedback pathways were directly included into the evolutionary process through sensory inputs.

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Paper Citation


in Harvard Style

Ferreira C., Silva P., André J., P. Santos C. and Costa L. (2014). Genetic Programming Applied to Biped Locomotion Control with Sensory Information . In Proceedings of the 11th International Conference on Informatics in Control, Automation and Robotics - Volume 1: ICINCO, ISBN 978-989-758-039-0, pages 53-62. DOI: 10.5220/0005062700530062


in Bibtex Style

@conference{icinco14,
author={César Ferreira and Pedro Silva and João André and Cristina P. Santos and Lino Costa},
title={Genetic Programming Applied to Biped Locomotion Control with Sensory Information},
booktitle={Proceedings of the 11th International Conference on Informatics in Control, Automation and Robotics - Volume 1: ICINCO,},
year={2014},
pages={53-62},
publisher={SciTePress},
organization={INSTICC},
doi={10.5220/0005062700530062},
isbn={978-989-758-039-0},
}


in EndNote Style

TY - CONF
JO - Proceedings of the 11th International Conference on Informatics in Control, Automation and Robotics - Volume 1: ICINCO,
TI - Genetic Programming Applied to Biped Locomotion Control with Sensory Information
SN - 978-989-758-039-0
AU - Ferreira C.
AU - Silva P.
AU - André J.
AU - P. Santos C.
AU - Costa L.
PY - 2014
SP - 53
EP - 62
DO - 10.5220/0005062700530062