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- W4225409610 abstract "Optimizing gait stability for legged robots is a difficult problem. Even on level surfaces, effectively traversing across different textures (e.g., carpet) rests on dynamically tuning parameters in multidimensional space. Inspired by biology, evolutionary algorithms (EA) remain an attractive solution for feasibly implementing robotic locomotion with both energetic economy and rapid parameter convergence. Here, we leveraged this class of algorithms to evolve a stable hexapod gait controller capable of traversing uneven terrain and obstacles. Gait parameters were evolved in a rigid body dynamics simulation on an 8 x 3 meter obstacle course comprised of random step field, linear obstacles and inclined surfaces. Using a fitness function that jointly optimized locomotion velocity and stability, we found that multiple successful gait parameter evolutions yielded specialized functionality for each leg. Specific gait parameters were identified as critical to developing a rough terrain gait." @default.
- W4225409610 created "2022-05-05" @default.
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- W4225409610 date "2022-05-04" @default.
- W4225409610 modified "2023-09-25" @default.
- W4225409610 title "Leveraging Evolutionary Algorithms for Feasible Hexapod Locomotion Across Uneven Terrain" @default.
- W4225409610 doi "https://doi.org/10.32473/flairs.v35i.130715" @default.
- W4225409610 hasPublicationYear "2022" @default.
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