Evolution of Locomotion Controllers for Legged Robots

  • A. Boeing
  • T. Bräunl
Part 3: Intelligent Robotic System

DOI: 10.1007/978-3-540-44415-2_14

Volume 299 of the book series Lecture Notes in Control and Information Science (LNCIS)
Cite this paper as:
Boeing A., Bräunl T. () Evolution of Locomotion Controllers for Legged Robots. In: Tarn TJ., Zhou C., Chen SB. (eds) Robotic Welding, Intelligence and Automation. Lecture Notes in Control and Information Science, vol 299. Springer, Berlin, Heidelberg

Abstract

The construction of a locomotion controller for legged robots is a difficult and time consuming process. This task can be automated through the use of evolutionary techniques and an appropriately chosen control system. The presented approach utilizes a genetic algorithm that evolves the parameters for a spline controller. The controller outputs its control signals to a virtual robot in a mechanical simulator, enabling the robot designer to preview the robots locomotion patterns. This approach has shown to produce walking patterns for a number of robots with differing morphology. Extensions to the basic spline controller al-low various forms of sensory information to be encoded enabling the robot to maneuver over irregular terrain. The resulting system has shown to be a simple and efficient method for automated controller design.

Preview

Unable to display preview. Download preview PDF.

Unable to display preview. Download preview PDF.

Copyright information

Authors and Affiliations

  • A. Boeing
    • 1
  • T. Bräunl
    • 1
  1. 1.Centre for Intelligent Information Processing, University of Western Australia, PerthAustralia