Evolution and Optimum Seeking: The Sixth Generation
Evolution and Optimum Seeking: The Sixth Generation
Completely Derandomized Self-Adaptation in Evolution Strategies
Evolutionary Computation
Biologically inspired climbing with a hexapedal robot
Journal of Field Robotics
Robot design for space missions using evolutionary computation
CEC'09 Proceedings of the Eleventh conference on Congress on Evolutionary Computation
Smooth Vertical Surface Climbing With Directional Adhesion
IEEE Transactions on Robotics
An approach to stable walking over uneven terrain using a reflex-based adaptive gait
Journal of Control Science and Engineering
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In this paper we present a concept and an evaluation of an ape-like robot which is quite similar to its biological model. Aim of our project LittleApe is to build a small and extreme lightweight robot that is capable of walking on two and four legs as well as of changing from a four-legged posture to a two-legged posture, manipulating small objects, and which is also able to climb. LittleApe is modelled with attributes of a chimpanzee regarding limb proportions, spinal column, centre of mass, walking pattern, and range of motion. The concept of LittleApe is tested in simulation while building the real system. Two aspects were chosen to evaluate the concept described in detail within this paper. The first aspect comprises the use of an evolutionary method and the comparison of different morphologies. Based on the results from the first one, the second aspect deals with the manoeuvrability of the LittleApe robot.