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Genetically Evolved Dynamic Control For Quadruped Walking, Giorgio Grasso

Dissertations

The aim of this dissertation is to show that dynamic control of quadruped locomotion is achievable through the use of genetically evolved central pattern generators. This strategy is tested both in simulation and on a walking robot. The design of the walker has been chosen to be statically unstable, so that during motion less than three supporting feet may be in contact with the ground.

The control strategy adopted is capable of propelling the artificial walker at a forward locomotion speed of ~1.5 Km/h on rugged terrain and provides for stability of motion. The learning of walking, based on simulated …