Title :
A hybrid evolutionary algorithm for gait generation of Sony legged robots
Author :
Golubovic, Dragos ; Hu, Huosheng
Author_Institution :
Dept. of Comput. Sci., Essex Univ., Colchester, UK
Abstract :
This paper presents a hybrid evolutionary algorithm (EA) for developing locomotion gait of Sony legged robots. The selection of EA parameters such as the population size and recombination methods is made to be flexible and strive towards optimal performance autonomously. An interactive software environment with an overhead CCD camera is used to evaluate the performance of the generated gaits. The experimental results are given to show that the stable and fast gaits have been achieved.
Keywords :
CCD image sensors; gait analysis; genetic algorithms; interactive systems; legged locomotion; Sony AIBO Robot; Sony legged robots; gait generation; generated gaits performance analysis; genetic algorithms; hybrid evolutionary algorithm; interactive software environment; locomotion gait; optimal performance; overhead CCD camera; population size; recombination methods; Evolutionary computation; Genetic algorithms; Hybrid power systems; Intelligent robots; Leg; Legged locomotion; Mood; Robot sensing systems; Tactile sensors; Tail;
Conference_Titel :
IECON 02 [Industrial Electronics Society, IEEE 2002 28th Annual Conference of the]
Print_ISBN :
0-7803-7474-6
DOI :
10.1109/IECON.2002.1182802
