Gait and Trajectory Optimization by Self-Learning for Quadrupedal Robots with an Active Back Joint

Joint Authors

Medina, Oded
Masuri, Ariel
Hacohen, Shlomi
Shvalb, Nir

Source

Journal of Robotics

Issue

Vol. 2020, Issue 2020 (31 Dec. 2020), pp.1-7, 7 p.

Publisher

Hindawi Publishing Corporation

Publication Date

2020-06-10

Country of Publication

Egypt

No. of Pages

7

Main Subjects

Mechanical Engineering

Abstract EN

This paper presents an efficient technique for a self-learning dynamic walk for a quadrupedal robot.

The cost function for such a task is typically complicated, and the number of parameters to be optimized is high.

Therefore, a simple technique for optimization is of importance.

We apply a genetic algorithm (GA) which uses real experimental data rather than simulations to evaluate the fitness of a tested gait.

The algorithm actively optimizes 12 of the robot’s dynamic walking parameters.

These include the step length and duration and the bending of an active back.

For this end, a simple quadrupedal robot was designed and fabricated in a structure inspired by small animals.

The fitness function was then computed based on experimental data collected from a camera located above the scene coupled with data collected from the actuators’ sensors.

The experimental results demonstrate how walking abilities are improved in the course of learning, while including an active back should be considered to improve walking performances.

American Psychological Association (APA)

Masuri, Ariel& Medina, Oded& Hacohen, Shlomi& Shvalb, Nir. 2020. Gait and Trajectory Optimization by Self-Learning for Quadrupedal Robots with an Active Back Joint. Journal of Robotics،Vol. 2020, no. 2020, pp.1-7.
https://search.emarefa.net/detail/BIM-1190247

Modern Language Association (MLA)

Masuri, Ariel…[et al.]. Gait and Trajectory Optimization by Self-Learning for Quadrupedal Robots with an Active Back Joint. Journal of Robotics No. 2020 (2020), pp.1-7.
https://search.emarefa.net/detail/BIM-1190247

American Medical Association (AMA)

Masuri, Ariel& Medina, Oded& Hacohen, Shlomi& Shvalb, Nir. Gait and Trajectory Optimization by Self-Learning for Quadrupedal Robots with an Active Back Joint. Journal of Robotics. 2020. Vol. 2020, no. 2020, pp.1-7.
https://search.emarefa.net/detail/BIM-1190247

Data Type

Journal Articles

Language

English

Notes

Includes bibliographical references

Record ID

BIM-1190247