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Evolutionary optimization of a bipedal gait in a physical robot

Krister Wolff, David Sandberg, Mattias Wahde
2008 2008 IEEE Congress on Evolutionary Computation (IEEE World Congress on Computational Intelligence)  
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

Amin Zamiri, Amir Farzad, Ehsan Saboori, Mojtaba Rouhani, Mahmoud Naghibzadeh, Amin Milani Fard
2008 2008 IEEE/ACS International Conference on Computer Systems and Applications  
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]

Almir Heralic, Krister Wolff, Mattias Wahde
2007 Humanoid Robots: New Developments  
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

T. Reil, P. Husbands
2002 IEEE Transactions on Evolutionary Computation  
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]

Krister Wolff, Mattias Wahde
2007 Climbing and Walking Robots: towards New Applications  
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

Atılım Güneş Baydin
2012 Paladyn: Journal of Behavioral Robotics  
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

Xiong Yang, Haotian She, Haojian Lu, Toshio Fukuda, Yajing Shen
2017 Applied Sciences  
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, bipedalGait 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

William I. Sellers, Louise A. Dennis, Wang W.-J., Robin H. Crompton
2004 Journal of Anatomy  
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

Krister Wolff, Jimmy Pettersson, Almir Heralic, Mattias Wahde
2006 2006 IEEE International Conference on Systems, Man and Cybernetics  
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

Jared Moore, Anne Gutmann, McGowan Craig, Philip McKinley
2013 Advances in Artificial Life, ECAL 2013  
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

John Rieffel, Frank Saunders, Shilpa Nadimpalli, Harvey Zhou, Soha Hassoun, Jason Rife, Barry Trimmer
2009 Proceedings of the 11th annual conference companion on Genetic and evolutionary computation conference - GECCO '09  
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

Daoxiong Gong, Jie Yan, Guoyu Zuo
2010 Applied Computational Intelligence and Soft Computing  
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

Roberto Calandra, André Seyfarth, Jan Peters, Marc Peter Deisenroth
2015 Annals of Mathematics and Artificial Intelligence  
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]

Lena Mariann, Mats Hovi
2007 Bioinspiration and Robotics Walking and Climbing Robots  
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

Lena Mariann Garder, Mats Erling Høvin
2006 Proceedings of the 8th annual conference on Genetic and evolutionary computation - GECCO '06  
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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