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2016 | OriginalPaper | Chapter

Optimizing Morphology and Locomotion on a Corpus of Parametric Legged Robots

Authors : Grégoire Passault, Quentin Rouxel, Remi Fabre, Steve N’Guyen, Olivier Ly

Published in: Biomimetic and Biohybrid Systems

Publisher: Springer International Publishing

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Abstract

In this paper, we describe an optimization approach to the legged locomotion problem. We designed a software environment to manipulate parametrized robot models. This environment is a platform developed for future experiments and for educational robotics purpose. It allows to generate dynamic models and simulate them using a physics engine. Experiments can then be made with both morphological and controller optimization. Here we describe the environment, propose a simple open loop generic controller for legged robots and discuss experiments that were made on a robot corpus using a black-box optimization.

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previous chapter Learning to Balance While Reaching: A Cerebellar-Based Control Architecture for a Self-balancing Robot
next chapter Stick(y) Insects — Evaluation of Static Stability for Bio-inspired Leg Coordination in Robotics
Footnotes
1
Videos showing the editor is available at https://​www.​youtube.​com/​watch?​v=​smHctwi05Ic.
 
2
A video of the obtained behaviors is available: https://​www.​youtube.​com/​watch?​v=​GF1KM7JrmC0.
 
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Metadata
Title
Optimizing Morphology and Locomotion on a Corpus of Parametric Legged Robots
Authors
Grégoire Passault
Quentin Rouxel
Remi Fabre
Steve N’Guyen
Olivier Ly
Copyright Year
2016
Book
Biomimetic and Biohybrid Systems

Print ISBN: 978-3-319-42416-3

Electronic ISBN: 978-3-319-42417-0

Copyright Year: 2016

DOI
https://doi.org/10.1007/978-3-319-42417-0_21

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