Genetic programming (videotape): the movie
Genetic programming (videotape): the movie
Autonomous Robots
Gait Adaptation in a Quadruped Robot
Autonomous Robots
The UNSW RoboCup 2000 Sony Legged League Team
RoboCup 2000: Robot Soccer World Cup IV
Omnidirectional Locomotion for Quadruped Robots
RoboCup 2001: Robot Soccer World Cup V
A Quadruped Robot for RoboCup Legged Robot Challenge in Paris '98
RoboCup-98: Robot Soccer World Cup II
Frequency space representation and transitions of quadruped robot gaits
ACSC '04 Proceedings of the 27th Australasian conference on Computer science - Volume 26
Autonomous Learning of Stable Quadruped Locomotion
RoboCup 2006: Robot Soccer World Cup X
Learning and multiagent reasoning for autonomous agents
IJCAI'07 Proceedings of the 20th international joint conference on Artifical intelligence
Portable autonomous walk calibration for 4-legged robots
Applied Intelligence
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We present a parametric walk model for a four-legged robot. The walk model is improved using a genetic algorithm, but unlike previous approaches, the fitness is determined in a run that closely resembles the later application. We thus not only achieve high speeds, but also a high degree of flexibility. In addition to the walking model being flexible, we present a means of automatically calibrating the walking engine. This allows for highly precise robot control and greatly improved odometry accuracy. Lastly, we show how the motion model can be extended to integrate specialized motions to further increase locomotion speed without compromising flexibility.