DocumentCode
2437481
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
fYear
2011
fDate
20-23 June 2011
Firstpage
253
Lastpage
258
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;
fLanguage
English
Publisher
ieee
Conference_Titel
Advanced Robotics (ICAR), 2011 15th International Conference on
Conference_Location
Tallinn
Print_ISBN
978-1-4577-1158-9
Type
conf
DOI
10.1109/ICAR.2011.6088565
Filename
6088565
Link To Document