GENERATING HIGH-SPEED THREE-DIMENSIONAL DYNAMIC QUADRUPED WALKING USING AN EVOLUTIONARY SEARCH

This paper presents an evolutionary computation approach to generate three-dimensional fast forward gaits for quadruped robots with three motor-driven joints on each limb. We use linear constraints to reduce the high-dimensional space of parameters in order to generate the speed effectively. Real robot experiments show that the evolutionary approach is effective in developing quadruped gaits. Satisfactory results are obtained in about an hour by the autonomous learning process, which starts with a set of hand-tuned parameters.http://gateway.webofknowledge.com/gateway/Gateway.cgi?GWVersion=2&SrcApp=PARTNER_APP&SrcAuth=LinksAMR&KeyUT=WOS:000282033700028&DestLinkType=FullRecord&DestApp=ALL_WOS&UsrCustomerID=8e1609b174ce4e31116a60747a720701Automation & Control SystemsComputer Science, Artificial IntelligenceComputer Science, Information SystemsRoboticsEICPCI-S(ISTP)