Autonomous Evolution od Dynamic Gaits with Two Quadruped Robots
Autonomous Evolution od Dynamic Gaits with Two Quadruped Robots
A challenging task that must be accomplished for every legged robot is creating the walking and running behaviors needed for it to more. In this paper we describe our system for autonomously evolving dynamic gaits on two of Sony's quadruped uses the robot's sensors to compute the quality of a gait without assistance from the experimenter. First ve show the evolution of a pace and trot gait on the OPEN-R prototype robot. With , the fastest gait, the robot moves at over 1Om/min., which is more than forty body-lengths/min. While these first gaits are somewhat sensitive to the robot and environment in which they are evolved, we then show the evolution of robust dynamic gaits, one of which is used on the ERS-110, the first consumer of AIBO.
Dokumentinformationen
Autonomous Evolution od Dynamic Gaits with Two Quadruped Robots
2004
14 pages
Report
Keine Angabe
Englisch
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