Title :
Evolving legged robots using biologically inspired optimization strategies
Author :
Smith, Beatrice G R ; Saaj, Chakravarthini M. ; Allouis, Elie
Author_Institution :
Surrey Space Centre, Univ. of Surrey, Guildford, UK
Abstract :
When designing a legged robot a small change in one variable can have a significant effect on a number of the robot´s characteristics, meaning that making tradeoffs can be difficult. The algorithm presented in this paper uses biologically inspired optimization techniques to identify the effects of changing various robot design variables and determine if there are any general rules which can be applied to the design of a legged robot. Designs produced by this simulation are also compared to existing robot designs and biological systems, showing that the algorithm produces results which require less power and torque than similar robots, and which share a number of characteristics with biological systems.
Keywords :
legged locomotion; medical robotics; optimisation; biological systems; biologically inspired optimization strategies; evolving legged robots; robots characteristics; Algorithm design and analysis; Biological cells; Leg; Legged locomotion; Payloads; Torque;
Conference_Titel :
Robotics and Biomimetics (ROBIO), 2010 IEEE International Conference on
Conference_Location :
Tianjin
Print_ISBN :
978-1-4244-9319-7
DOI :
10.1109/ROBIO.2010.5723523