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- W2151498045 abstract "The objective of this paper is to develop feasible gait patterns that could be used to control a real hexapod walking robot. These gaits should enable the fastest movement that is possible with the given robot mechanics and drives on a flat terrain. We show in a series of evolutionary simulations how a gradual reduction of the permissible state space of the movements of the robot legs leads to the proper leg trajectories for a hexapod robot. This strategy enables the learning system to discover feasible gaits, using only simple dependencies between the control signals of the legs and a simple fitness function. Finally, a stable and fast tripod gait evolved in simulation is shown in an experiment on the real walking robot Ragno." @default.
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- W2151498045 date "2008-09-01" @default.
- W2151498045 modified "2023-10-16" @default.
- W2151498045 title "Evolving Feasible Gaits for a Hexapod Robot by Reducing the Space of Possible Solutions" @default.
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- W2151498045 doi "https://doi.org/10.1109/iros.2008.4650813" @default.
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