Title :
Evolution of dynamic gaits for a robot
Author :
Takamura, S. ; Hornby, G. ; Yamamoto, T. ; Yokono, J. ; Fujita, M.
Author_Institution :
ER Bus. Dept., Sony Corp., Japan
Abstract :
An evolutionary algorithm is used to evolve dynamic gaits for the Sony pet-type robot and for AIBO(R). All processing is handled by the robots´ on-board computer with individuals evaluated using the robots´ sensors. Our implementation successfully evolves trot and pace gaits for which the pace gait significantly outperforms previous hand-developed gaits. Using this technique we evolved the trot gait used in the consumer version of AIBO.
Keywords :
entertainment; evolutionary computation; gait analysis; legged locomotion; robot kinematics; AIBO; AIBO(R); Sony pet-type robot; consumer version; dynamic gaits; evolutionary algorithm; pace gait; robot; trot gait; Erbium; Evolutionary computation; Genetic mutations; Leg; Legged locomotion; Prototypes; Robot sensing systems; Robustness; Sensor systems; Watches;
Conference_Titel :
Consumer Electronics, 2000. ICCE. 2000 Digest of Technical Papers. International Conference on
Conference_Location :
Los Angles, CA, USA
Print_ISBN :
0-7803-6301-9
DOI :
10.1109/ICCE.2000.854578
