Legged robot gait locus generation based on genetic algorithms

Kai Xu, Xiao-ping Chen, Wei Liu, Mary-Anne Williams
2006 Proceedings of the 2006 international symposium on Practical cognitive agents and robots - PCAR '06  
Achieving an effective gait locus for legged robots is a challenging task. It is often done manually in a laborious way due to the lack of research in automatic gait locus planning. Bearing this problem in mind, this article presents a gait locus planning method using inverse kinematics while incorporating genetic algorithms. Using quadruped robots as a platform for evaluation, this method is shown to generate a good gait locus for legged robots.
doi:10.1145/1232425.1232435 fatcat:x4fcardvn5fotf5kibbyyjxxji