Gait Control Generation for Physically Based Simulated Robots Using Genetic Algorithms | Zendy

Milton Roberto Heinen | Zendy; Fernando Santos Osório | Zendy

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Gait Control Generation for Physically Based Simulated Robots Using Genetic Algorithms

Author(s) -

Milton Roberto Heinen,

Fernando Santos Osório

Publication year - 2006

Publication title -

lecture notes in computer science

Language(s) - English

Resource type - Book series

SCImago Journal Rank - 0.249

H-Index - 400

eISSN - 1611-3349

pISSN - 0302-9743

ISBN - 3-540-45462-4

DOI - 10.1007/11874850_60

Subject(s) - robot , fitness function , computer science , gait , genetic algorithm , control (management) , robot control , function (biology) , legged robot , mobile robot , artificial intelligence , simulation , control engineering , machine learning , engineering , physiology , evolutionary biology , biology

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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