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Evolution of Locomotion Controllers for Legged Robots

  • A. Boeing
  • T. Bräunl
Part 3: Intelligent Robotic System
Part of the Lecture Notes in Control and Information Science book series (LNCIS, volume 299)

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.

Keywords

Genetic Algorithm Control Point Biped Robot Neural Controller Bipedal Locomotion 
These keywords were added by machine and not by the authors. This process is experimental and the keywords may be updated as the learning algorithm improves.

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Authors and Affiliations

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

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