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
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
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