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Erschienen in:
2013 | OriginalPaper | Buchkapitel
Toward Automatic Gait Generation for Quadruped Robots Using Cartesian Genetic Programming
verfasst von : Kisung Seo, Soohwan Hyun
Erschienen in: Applications of Evolutionary Computation
Verlag: Springer Berlin Heidelberg
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This paper introduces a new gait generation method for quadruped robots using CGP (Cartesian Genetic Programming) based on refinement of regression polynomials for a joint trajectory. CGP uses as genotype a linear string of integers that are mapped to a directed graph. Therefore, some evolved modules for regression polynomials in CGP can be shared and reused among multiple outputs for joint trajectories. To investigate the effectiveness of the proposed approach, experiments on gaits were executed for a Bioloid quadruped robot in the Webots environment.