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Evolutionary optimization of a bipedal gait in a physical robot
2008
2008 IEEE Congress on Evolutionary Computation (IEEE World Congress on Computational Intelligence)
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Evolutionary optimization of a gait for a bipedal robot has been studied, combining structural and parametric modifications of the system responsible for generating the gait. ...
A hand-coded gait was used as starting point for the optimization procedure: A population of 30 individuals was formed, using the hand-coded gait as a seed. ...
The authors are affiliated with the Department of Applied Mechanics, Chalmers University of Technology, 412 96 Göteborg, Sweden. Corresponding author's email: krister.wolff@chalmers.se. ...
doi:10.1109/cec.2008.4630835
dblp:conf/cec/WolffSW08
fatcat:mzctdvzh2bbxbgc6kvqwzbh6oe
An evolutionary gait generator with online parameter adjustment for humanoid robots
2008
2008 IEEE/ACS International Conference on Computer Systems and Applications
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The research seeks to improve upon the previous works on evolutionary gait generation, in robots with lower degrees of freedom. ...
In addition, the proposed solution adapts a hybrid approach, thereby avoiding the long learning curves and unstable and slow gaits associated with evolutionary approaches. ...
Lin Yang et. al presented the Genetic Algorithm Optimized Fourier Series Formulation (GAOFSF) method for stable gait generation in bipedal locomotion in [6] . ...
doi:10.1109/aiccsa.2008.4493510
dblp:conf/aiccsa/ZamiriFSRN08
fatcat:cft2yxy5gnc45enss2mpkabbia
Central Pattern Generators for Gait Generation in Bipedal Robots
[chapter]
2007
Humanoid Robots: New Developments
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CPGs in bipedal robot control Generating robust gaits for bipedal robots using artificial counterparts to biological CPGs is an active field of research. ...
Results
Method 1: In Method 1, the generation of upright bipedal locomotion was carried out in a two-step evolutionary procedure. ...
Evolutionary optimization of a bipedal gait in a physical robot. Submitted to: IEEE Transactions on Robotics. Zehr, E. P. & Duysens, J. (2004) . ...
doi:10.5772/4873
fatcat:t5z6ueudxzdbrafkx5lcgezxqi
Evolution of central pattern generators for bipedal walking in a real-time physics environment
2002
IEEE Transactions on Evolutionary Computation
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We describe an evolutionary approach to the control problem of bipedal walking. ...
To our knowledge, this is the first work that demonstrates the application of evolutionary optimization to three-dimensional physically simulated biped locomotion. ...
Raubenheimer for helpful discussions and the anonymous reviewers of a previous version of this paper for their helpful and constructive comments. The authors would also like to thank C. Massey and W. ...
doi:10.1109/4235.996015
fatcat:x77wlwahtbdfhe4f2a6ch52nuy
Evolution of Biped Locomotion Using Linear Genetic Programming
[chapter]
2007
Climbing and Walking Robots: towards New Applications
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Evolutionary Robotics Many problems in robotics, e.g. the generation of bipedal gaits, can be formulated as optimization problems. ...
As the name implies, in evolutionary robotics, the optimization is carried out by means of EAs. ...
The purpose of this book is to provide an overview of the latest wide-range achievements in climbing and walking robotic technology to researchers, scientists, and engineers throughout the world. ...
doi:10.5772/5088
fatcat:yuy72pil6vdahpynez4ornvr5m
Evolution of central pattern generators for the control of a five-link bipedal walking mechanism
2012
Paladyn: Journal of Behavioral Robotics
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This study presents an approach where the connectivity and oscillatory parameters of a CPG network are determined by an evolutionary algorithm with fitness evaluations in a realistic simulation with accurate ...
physics. ...
Acknowledgments For his support in this work, we wish to express gratitude to Dr. Krister Wol at the Department of Applied Mechanics, Chalmers University of Technology, Göteborg, Sweden. ...
doi:10.2478/s13230-012-0019-y
fatcat:osrcbusycjgz7du3h2xzd5evdu
State of the Art: Bipedal Robots for Lower Limb Rehabilitation
2017
Applied Sciences
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Bipedal robots have a wide range of applications in the service, education, entertainment, and other industries. ...
After that, we specifically discuss the applications of bipedal robots in lower limb rehabilitation, including wearable exoskeleton robots, rehabilitation equipment, soft exoskeleton robots, and unpowered ...
Conversely, bipedal
• Gait Planning Based on Energy Consumption Optimization People walk with the lowest energy consumption and remain stable as result of the evolutionary process. ...
doi:10.3390/app7111182
fatcat:smngrq4o6vaq7hvmyslk3lpoc4
Evaluating alternative gait strategies using evolutionary robotics
2004
Journal of Anatomy
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Evolutionary robotics is a branch of artificial intelligence concerned with the automatic generation of autonomous robots. ...
This paper demonstrates a bipedal simulator that spontaneously generates walking and running gaits. ...
Early work in this area looked at static gaits in six-legged robots: either using simulations (Beer & Gallagher, 1992) or by building physical robots (Lewis et al. 1992) . ...
doi:10.1111/j.0021-8782.2004.00294.x
pmid:15198699
pmcid:PMC1571306
fatcat:e7b6viwhffam3epdriwtpuzv74
Structural Evolution of Central Pattern Generators for Bipedal Walking in 3D Simulation
2006
2006 IEEE International Conference on Systems, Man and Cybernetics
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Furthermore, a supporting structure was added to the robot in order to guide the evolutionary process towards natural, human-like gaits. ...
The approach has been investigated through full rigid-body dynamics simulations in 3D of a bipedal robot with 14 degrees of freedom. ...
capable of generating a bipedal gait. ...
doi:10.1109/icsmc.2006.384387
dblp:conf/smc/WolffPHW06
fatcat:w4mhe7d5brfp5oeqhq3atoj2bq
Exploring the Role of the Tail in Bipedal Hopping through Computational Evolution
2013
Advances in Artificial Life, ECAL 2013
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In this paper, we explore the evolution of bipedal hopping in a simulated animat, using a relatively simple musculoskeletal model and a rigid-body physics simulation environment. ...
Bipedal hopping has evolved as a mode of terrestrial locomotion in relatively few mammalian species. ...
Acknowledgments The authors gratefully acknowledge the BEACON Center for the Study of Evolution in Action, which directly supported this study and fosters an environment for interdisciplinary collaboration ...
doi:10.7551/978-0-262-31709-2-ch003
dblp:conf/ecal/MooreGMM13
fatcat:qgadow4qlfesrfnkklz336lo7a
Evolving soft robotic locomotion in PhysX
2009
Proceedings of the 11th annual conference companion on Genetic and evolutionary computation conference - GECCO '09
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We describe two parallel methods of using NVidia's PhysX, a hardware-accelerated (GPGPU) physics engine, in order to evolve and optimize soft bodied gaits. ...
In each case we discuss the the challenges and possibilities involved in using the PhysX for evolutionary soft robotics. ...
The resulting reduced order model deformed in a manner characteristic of the soft-robot. For the evolutionary optimization, the fitness metric was distance traveled per gait period. ...
doi:10.1145/1570256.1570351
dblp:conf/gecco/RieffelSNZHRT09
fatcat:ivilopl24jgttkczhok7xwll2u
A Review of Gait Optimization Based on Evolutionary Computation
2010
Applied Computational Intelligence and Soft Computing
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Gait generation is very important as it directly affects the quality of locomotion of legged robots. ...
This paper also addresses further possible improvements in the efficiency and quality of evolutionary gait optimization, some problems that have not yet been resolved and the perspectives for related future ...
The authors gratefully thank the anonymous reviewers for their valuable comments on the earlier draft of this paper and Mark Jonikas of Beijing University of Technology for extensive editing assistance ...
doi:10.1155/2010/413179
fatcat:psepcv4o3rh7tdpqn2vkex4o4q
Bayesian optimization for learning gaits under uncertainty
2015
Annals of Mathematics and Artificial Intelligence
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This evaluation demonstrates that Bayesian optimization is particularly suited for robotic applications, where it is crucial to find a good set of gait parameters in a small number of experiments. ...
In this article, we thoroughly discuss multiple of these optimization methods in the context of automatic gait optimization. ...
This paper builds upon and extends our previous work on Bayesian optimization for robotics [13, 14] . In [13] , Bayesian optimization was applied to gait optimization of a bipedal robot. ...
doi:10.1007/s10472-015-9463-9
fatcat:fmirr4zc2jdj7n2abnwpsxxrai
Evolutionary Strategies Combined With Novel Binary Hill Climbing Used for Online Walking Pattern Generation in Two Legged Robot
[chapter]
2007
Bioinspiration and Robotics Walking and Climbing Robots
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Developing effective gaits for bipedal robots is a difficult task that requires optimization of many parameters in a highly irregular, multidimensional space. ...
GA applied to bipedal locomotion was also proposed by Arakawa and Fukuda (Arakawa & Fukuda, 1996) who made a GA based on energy optimization in order to generate a natural, human-like bipedal gait. ...
Nature has always been a source of inspiration and ideas for the robotics community. ...
doi:10.5772/5509
fatcat:pxldymsd55cepfkrdzivq2jzam
Robot gaits evolved by combining genetic algorithms and binary hill climbing
2006
Proceedings of the 8th annual conference on Genetic and evolutionary computation - GECCO '06
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In this paper an evolutionary algorithm is used for evolving gaits in a walking biped robot controller. The focus is fast learning in a real-time environment. ...
Our proposal is compared to various versions of GA and stochastic search, and finally tested on a pneumatic biped walking robot. ...
Developing effective gaits for bipedal robots is a difficult task that requires optimization of many parameters in a highly irregular, multidimensional seach space. ...
doi:10.1145/1143997.1144182
dblp:conf/gecco/GarderH06
fatcat:xstncjevljha7cv2dd5psbmmg4
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