Title :
Hexapod walking robot gait generation using genetic-gravitational hybrid algorithm
Author :
Seljanko, Filipp
Author_Institution :
Dept. of Comput. Control, Tallinn Univ. of Technol., Tallinn, Estonia
Abstract :
In this paper the use of hybrid genetic-gravitational algorithm for generation of the gait for the hexapod robot is described. Algorithm utilizes the features of Gravitational Search Algorithm (GSA) with operators from the Genetic Algorithm (GA). Description of initial gait generation procedure, gait transformation algorithm and experimental results are given.
Keywords :
genetic algorithms; mobile robots; search problems; GSA; gait generation; genetic-gravitational hybrid algorithm; gravitational search algorithm; hexapod walking robot; Cloning; Genetic algorithms; Legged locomotion; Mathematical model; Robot kinematics; Stability analysis;
Conference_Titel :
Advanced Robotics (ICAR), 2011 15th International Conference on
Conference_Location :
Tallinn
Print_ISBN :
978-1-4577-1158-9
DOI :
10.1109/ICAR.2011.6088565
