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Computer Science Faculty Publications
Genetic; Cyclic Control; Quadruped; Gait; Evolutionary Robotics; Learning Control; Genetic Algorithm
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Quadruped Gait Learning Using Cyclic Genetic Algorithms, Gary Parker, William T. Tarimo, Michael Cantor
Quadruped Gait Learning Using Cyclic Genetic Algorithms, Gary Parker, William T. Tarimo, Michael Cantor
Computer Science Faculty Publications
Generating walking gaits for legged robots is a challenging task. Gait generation with proper leg coordination involves a series of actions that are continually repeated to create sustained movement. In this paper we present the use of a Cyclic Genetic Algorithm (CGA) to learn gaits for a quadruped servo robot with three degrees of movement per leg. An actual robot was used to generate a simulation model of the movement and states of the robot. The CGA used the robot's unique features and capabilities to develop gaits specific for that particular robot. Tests done in simulation show the success of …