1-112 省自由度四脚ロボットの脚動作パターンの進化的獲得

概要

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In this paper, an application of genetic algorithm for generation of evolutionary gait patterns of a quadrupedal robot which reduced degrees of freedom is described. To reduce degree of freedom, each leg of the robot has a slider-crank mechanism and is driven by an actuator. Furthermore we introduced the forward movement mode and the rotating mode because the all direction movement should be made possible. To generate the suitable starting pose, the initial angle of four legs are coded under gray code and tuned by an estimation function in each mode with the genetic algorithm. As a result of generation, the cooperation of the legs are realized to move toward the all direction. The experimental results demonstrate that the proposed scheme is effective for generation of the suitable initial poses and the robot can walk smoothly with the generated patterns.
社団法人日本機械学会の論文
2002-11-14