Legged robot gait locus generation based on genetic algorithms

Authors:
Kai Xu;Xiao-ping Chen;Wei Liu;Mary-Anne Williams
Affiliations:
The University of Science and Technology of China, China;The University of Science and Technology of China, China;The University of Western Australia, Perth, Australia;The University of Technology, Sydney, Australia
Venue:
PCAR '06 Proceedings of the 2006 international symposium on Practical cognitive agents and robots
Year:
2006

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Abstract

Achieving an effective gait locus for legged robots is a challenging task. It is often done manually in a laborious way due to the lack of research in automatic gait locus planning. Bearing this problem in mind, this article presents a gait locus planning method using inverse kinematics while incorporating genetic algorithms. Using quadruped robots as a platform for evaluation, this method is shown to generate a good gait locus for legged robots.