Abstract
This paper presents a new approach to optimize gait parameter sets using evolutionary algorithms. It separates the crossover-step of the evolutionary algorithm into an interpolating step and an extrapolating step, which allows for solving optimization problems with a small population, which is an essential for robotics applications. In contrast to other approaches, odometry is used to assess the quality of a gait. Thereby, omni-directional gaits can be evolved. Some experiments with the Sony Aibo models ERS-210 and ERS-7 prove the performance of the approach including the fastest gait found so far for the Aibo ERS-210.
The Deutsche Forschungsgemeinschaft supports this work through the priority program “Cooperating teams of mobile robots in dynamic environments”.
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Röfer, T. (2005). Evolutionary Gait-Optimization Using a Fitness Function Based on Proprioception. In: Nardi, D., Riedmiller, M., Sammut, C., Santos-Victor, J. (eds) RoboCup 2004: Robot Soccer World Cup VIII. RoboCup 2004. Lecture Notes in Computer Science(), vol 3276. Springer, Berlin, Heidelberg. https://doi.org/10.1007/978-3-540-32256-6_25
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DOI: https://doi.org/10.1007/978-3-540-32256-6_25
Publisher Name: Springer, Berlin, Heidelberg
Print ISBN: 978-3-540-25046-3
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