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Autonomous evolution of dynamic gaits with two quadruped robots (2005)
| Content Provider | CiteSeerX |
|---|---|
| Author | Fujita, Masahiro Horn, Gregory S. Takamura, Seichi Yamamoto, Takashi |
| Abstract | Abstract—A challenging task that must be accomplished for every legged robot is creating the walking and running behaviors needed for it to move. In this paper we describe our system for autonomously evolving dynamic gaits on two of Sony’s quadruped robots. Our evolutionary algorithm runs on board the robot and uses the robot’s sensors to compute the quality of a gait without assistance from the experimenter. First, we show the evolution of a pace and trot gait on the OPEN-R prototype robot. With the fastest gait, the robot moves at over 10 m/min, which is more than forty body-lengths/min. While these first gaits are somewhat sensitive to the robot and environment in which they are evolved, we then show the evolution of robust dynamic gaits, one of which is used on the ERS-110, the first consumer version of AIBO. Index Terms—Dynamic gaits, evolutionary algorithm, evolutionary robotics, genetic algorithm, legged locomotion, legged robot, quadruped robot. I. |
| File Format | |
| Journal | IEEE Transactions on Robotics |
| Publisher Date | 2005-01-01 |
| Access Restriction | Open |
| Subject Keyword | Forty Body-lengths Min Dynamic Gait Trot Gait Open-r Prototype Robot Legged Robot Index Term Dynamic Gait Quadruped Robot Robust Dynamic Gait Autonomous Evolution Evolutionary Algorithm First Consumer Version Robot Move Evolutionary Algorithm Run First Gait Evolutionary Robotics Robot Sensor Challenging Task |
| Content Type | Text |
| Resource Type | Article |
