Gait Control Generation for Physically Based Simulated Robots Using Genetic Algorithms

  • Milton Roberto Heinen
  • Fernando Santos Osório
Conference paper

DOI: 10.1007/11874850_60

Part of the Lecture Notes in Computer Science book series (LNCS, volume 4140)
Cite this paper as:
Heinen M.R., Osório F.S. (2006) Gait Control Generation for Physically Based Simulated Robots Using Genetic Algorithms. In: Sichman J.S., Coelho H., Rezende S.O. (eds) Advances in Artificial Intelligence - IBERAMIA-SBIA 2006. Lecture Notes in Computer Science, vol 4140. Springer, Berlin, Heidelberg

Abstract

This paper describes our studies in the legged robots research area and the development of the LegGen System, that is used to automatically create and control stable gaits for legged robots into a physically based simulation environment. The parameters used to control the robot are optimized using Genetic Algorithms (GA). Comparisons between different fitness functions were accomplished, indicating how to compose a better multi-criterion fitness function to be used in the gait control of the legged robots. The best gait control solution and the best robot model were selected in order to help us to build a real robot in the future. The results also showed that it is possible to generate stable gaits using GA in an efficient manner.

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Copyright information

© Springer-Verlag Berlin Heidelberg 2006

Authors and Affiliations

  • Milton Roberto Heinen
    • 1
  • Fernando Santos Osório
    • 1
  1. 1.Unisinos – PIPCA – Applied ComputingSão LeopoldoBrazil

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