Title :
Motion planning based on hierarchical knowledge for six legged locomotion robot
Author :
Kurashige, Kentarou ; Fukuda, Toshio ; Hoshino, Haruo
Author_Institution :
Dept. of Micro Syst. Eng., Nagoya Univ., Japan
Abstract :
There are many researches about the motion planning problem. In this field, the main research is into generating motion for a specific robot and task without previously acquired motions. We research motion planning reusing knowledge. It is our object to realize hierarchical knowledge with reuse. We adopt a tree-based representation for expressing the knowledge of the motion and adopt genetic programming as a learning method. We construct the motion planning system using hierarchical knowledge. We apply the proposed method to a six legged locomotion robot to show its applicability
Keywords :
genetic algorithms; knowledge acquisition; knowledge representation; learning (artificial intelligence); legged locomotion; path planning; genetic programming; hierarchical knowledge; knowledge reuse; learning method; motion planning; six legged locomotion robot; tree-based representation; Actuators; Genetic programming; Humans; Legged locomotion; Motion planning; Orbital robotics; Robot kinematics; Robotics and automation; Systems engineering and theory; Technology planning;
Conference_Titel :
Systems, Man, and Cybernetics, 1999. IEEE SMC '99 Conference Proceedings. 1999 IEEE International Conference on
Conference_Location :
Tokyo
Print_ISBN :
0-7803-5731-0
DOI :
10.1109/ICSMC.1999.816676