Reusing Primitive and Acquired Motion Knowledge for Gait Generation of a Six-legged Robot Using Genetic Programming

  • Authors:

  • Kentarou Kurashige;Toshio Fukuda;Haruo Hoshino

  • Affiliations:

  • Department of Electronics Engineering and Computer Science Faculty of Engineering, Fukuoka University, 8-19-1 Nanakuma, Johnan-ku, Fukuoka-shi, 814-0180 Japan/ e-mail: kentarou@robo.mein.n ...;Center for Cooperative Research in Advanced Science &/ Technology Nagoya University, Furo-cho, Chikusa-ku, Nagoya, 464-01, Japan;Takenaka Corporation, Otsuka 1-5-1, Insei-shi, Chiba, 270-13, Japan

  • Venue:
  • Journal of Intelligent and Robotic Systems
  • Year:
  • 2003

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Abstract

There has been growing interest in motion planning problems for mobile robots. In this field, the main research is to generate a motion for a specific robot and task without previously acquired motions. However it is too wasteful not to use hard-earned acquired motions for other tasks. Here, we focus on a mechanism of reusing acquired motion knowledge and study a motion planning system able to generate and reuse motion knowledge. In this paper, we adopt a tree-based representation for expressing knowledge of motion, and propose a hierarchical knowledge for realizing a reuse mechanism. We construct a motion planning system using hierarchical knowledge as motion knowledge and using genetic programming as a learning method. We apply a proposed method for the gait generation task of a six-legged locomotion robot and show its availability with computer simulation.