Genetic programming: on the programming of computers by means of natural selection
Genetic programming: on the programming of computers by means of natural selection
Genetic Algorithms in Search, Optimization and Machine Learning
Genetic Algorithms in Search, Optimization and Machine Learning
Automatic Generation of Control Programs for Walking Robots Using Genetic Programming
EuroGP '02 Proceedings of the 5th European Conference on Genetic Programming
Autonomous Robots: From Biological Inspiration to Implementation and Control (Intelligent Robotics and Autonomous Agents)
Genetic programming based automatic gait generation for quadruped robots
Proceedings of the 10th annual conference on Genetic and evolutionary computation
Autonomous evolution of dynamic gaits with two quadruped robots
IEEE Transactions on Robotics
Toward automatic gait generation for quadruped robots using cartesian genetic programming
EvoApplications'13 Proceedings of the 16th European conference on Applications of Evolutionary Computation
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Planning gaits for legged robots is a challenging task that requires optimizing parameters in a highly irregular and multidimensional space. Two gait generation methods using GA (Genetic Algorithm), GP (genetic programming) are compared to develop fast locomotion for a quadruped robot. GA-based approaches seek to optimize a pre-selected set of parameters which include locus of paw and stance parameters of initial position. A GP-based technique is an effective way to generate a few joint trajectories instead of the locus of paw positions and many stance parameters. Optimizations for two proposed methods are executed and analyzed using a Webots simulation of the quadruped robot built by Bioloid. Furthermore, simulation results for the two proposed methods are tested in a real quadruped robot, and the performance and motion features of GA-, GP -based methods are compared.