Extended Evolutionary Fast Learn-to-Walk Approach for Four-Legged Robots

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dc.contributor.author Anshar, Muh. en_US
dc.contributor.author Williams, Mary-Anne en_US
dc.date.accessioned 2009-12-21T02:32:36Z
dc.date.available 2009-12-21T02:32:36Z
dc.date.issued 2007 en_US
dc.identifier 2007001116 en_US
dc.identifier.citation Anshar Muh. and Williams Mary-Anne 2007, 'Extended Evolutionary Fast Learn-to-Walk Approach for Four-Legged Robots', Elsevier, vol. 4, no. 4, pp. 255-264. en_US
dc.identifier.issn 1672-6529 en_US
dc.identifier.other C1 en_US
dc.identifier.uri http://hdl.handle.net/10453/4303
dc.description.abstract Robot locomotion is an active research area. In this paper we focus on the locomotion of quadruped robots. An effective walking gait of quadruped robots is mainly concerned with two key aspects, namely speed and stability. The large search space of potential parameter settings for leg joints means that hand tuning is not feasible in general. As a result walking parameters are typically determined using machine learning techniques. A major shortcoming of using machine learning techniques is the significant wear and tear of robots since many parameter combinations need to be evaluated before an optimal solution is found. This paper proposes a direct walking gait learning approach, which is specifically designed to reduce wear and tear of robot motors, joints and other hardware. In essence we provide an effective learning mechanism that leads to a solution in a faster convergence time than previous algorithms. The results demonstrate that the new learning algorithm obtains a faster convergence to the best solutions in a short run. This approach is significant in obtaining faster walking gaits which will be useful for a wide range of applications where speed and stability are important. Future work will extend our methods so that the faster convergence algorithm can be applied to a two legged humanoid and lead to less wear and tear whilst still developing a fast and stable gait. en_US
dc.publisher Elsevier en_US
dc.relation.isbasedon http://dx.doi.org/10.1016/S1672-6529(07)60039-0 en_US
dc.title Extended Evolutionary Fast Learn-to-Walk Approach for Four-Legged Robots en_US
dc.parent Journal of Bionic Engineering en_US
dc.journal.volume 4 en_US
dc.journal.number 4 en_US
dc.publocation The Netherlands en_US
dc.identifier.startpage 255 en_US
dc.identifier.endpage 264 en_US
dc.cauo.name FEIT.School of Software en_US
dc.conference Verified OK en_US
dc.for 091500 en_US
dc.personcode 10512224 en_US
dc.personcode 020389 en_US
dc.percentage 100 en_US
dc.classification.name Interdisciplinary Engineering en_US
dc.classification.type FOR-08 en_US
dc.edition December 30, 2007 en_US
dc.staffid 020389 en_US


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