Introduction to Robotics: Mechanics and Control
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Natural Computing: an international journal
Omnidirectional Locomotion for Quadruped Robots
RoboCup 2001: Robot Soccer World Cup V
Machine learning for fast quadrupedal locomotion
AAAI'04 Proceedings of the 19th national conference on Artifical intelligence
A review of gait optimization based on evolutionary computation
Applied Computational Intelligence and Soft Computing - Special issue on theory and applications of evolutionary computation
Portable autonomous walk calibration for 4-legged robots
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Rigid and soft body simulation featuring realistic walk behaviour
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This paper presents an efficient way to learn fast omnidirectional quadrupedal walking gaits. We show that the common approaches to control the legs can be further improved by allowing more degrees of freedom in the trajectory generation for the legs. To achieve good omnidirectional movements, we suggest to use different parameters for different walk requests and interpolate between them. The approach has been implemented for the Sony Aibo and used by the GermanTeam in the Four-Legged-League in 2005. A standard learning strategy has been adopted, so that the optimization process of a parameter set can be done within one hour, without human intervention. The resulting walk achieved remarkable speeds, both in pure forward walking and in omnidirectional movements.