Journal of the Korean Institute of Intelligent Systems (한국지능시스템학회논문지)

Korean Institute of Intelligent Systems (한국지능시스템학회)
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Automatic Gait Generation for Quadruped Robot Using GA with an Enhancement of Performance

GA를 이용한 4족 보행로봇의 걸음새 자동 생성 및 성능향상

  • 서기성 (서경대학교 전자공학과) ;
  • 최준석 (서경대학교 전자공학과) ;
  • 조영완 (서경대학교 컴퓨터공학과)
  • Published : 2008.08.25
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Abstract

This Paper introduces new approach to develop fast and reliable gaits for quadruped robot using GA(genetic algorithm). Planning gaits for legged robots is a challenging task that requires optimizing parameters in a highly irregular and multidimensional space. Recent approaches have problems to select proper parameters which are not known in advance and optimize more than ten to twenty parameters simultaneously. In our approach, the effects of major gait parameters are analysed and used to guide the search more efficiently. The experiments of Sony AIBO ERS-7 in Webots environment indicate that our approach is able to produce much improved results in fast velocity and reliability.

GA 기반의 4족 보행로봇의 걸음새의 속도와 안정성을 최적화하는 걸음새의 자동 생성 방법을 구현한다. 기존에 사용된 걸음새 파라미터 집합에서 중요 파라미터의 영향을 분석하였고, 이를 통해 효율적인 탐색 방향을 설정하였다. 또한 속도 위주의 기존 연구와는 달리 반 정확도가 수반된 결과를 얻도록 하였다. 제안된 기법의 검증을 위하여 SONY Aibo 4족 보행 로봇에 대해서 ODE 기반의 물리적 특성을 포함한 정교한 시뮬레이션이 가능한 Webots 을 이용하여 실험을 수행하였고, 속도와 안정성 면에서 향상된 결과를 얻었다.

Keywords

References

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  2. Gait Generation Method for a Quadruped Robot with a Waist Joint to Walk on the Slope vol.22, pp.5, 2012, https://doi.org/10.5391/JKIIS.2012.22.5.617