Gait control generation for physically based simulated robots using genetic algorithms

Authors:
Milton Roberto Heinen;Fernando Santos Osório
Affiliations:
Unisinos – PIPCA – Applied Computing, São Leopoldo, Brazil;Unisinos – PIPCA – Applied Computing, São Leopoldo, Brazil
Venue:
IBERAMIA-SBIA'06 Proceedings of the 2nd international joint conference, and Proceedings of the 10th Ibero-American Conference on AI 18th Brazilian conference on Advances in Artificial Intelligence
Year:
2006

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Abstract

This paper describes our studies in the legged robots research area and the development of the LegGen System, that is used to automatically create and control stable gaits for legged robots into a physically based simulation environment. The parameters used to control the robot are optimized using Genetic Algorithms (GA). Comparisons between different fitness functions were accomplished, indicating how to compose a better multi-criterion fitness function to be used in the gait control of the legged robots. The best gait control solution and the best robot model were selected in order to help us to build a real robot in the future. The results also showed that it is possible to generate stable gaits using GA in an efficient manner.