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Erschienen in:
2013 | OriginalPaper | Buchkapitel
Co-evolutionary Approach to Design of Robotic Gait
verfasst von : Jan Černý, Jiří Kubalík
Erschienen in: Applications of Evolutionary Computation
Verlag: Springer Berlin Heidelberg
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Manual design of motion patterns for legged robots is difficult task often with suboptimal results. To automate this process variety of approaches have been tried including various evolutionary algorithms. In this work we present an algorithm capable of generating viable motion patterns for multi-legged robots. This algorithm consists of two evolutionary algorithms working in co-evolution. The GP is evolving motion of a single leg while the GA deploys the motion to all legs of the robot. Proof-of-concept experiments show that the co-evolutionary approach delivers significantly better results than those evolved for the same robot with simple genetic programming algorithm alone.