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Genetic programming based automatic gait generation for quadruped robots

Authors:

Kisung Seo,

Soohwan HyunAuthors Info & Claims

GECCO '08: Proceedings of the 10th annual conference on Genetic and evolutionary computation

Pages 293 - 294

https://doi.org/10.1145/1389095.1389145

Published: 12 July 2008 Publication History

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Abstract

This paper introduces a new approach to develop fast gait for quadruped robot using genetic programming (GP). Several recent approaches have focused on using genetic algorithm (GA) to generate gait automatically and shown significant improvements over previous results. Most of current GA based approaches use pre-selected parameters, but it is difficult to select the appropriate parameters for the optimization of gait. To overcome these problems of GA based approach, we proposed an efficient approach which optimizes joint angle trajectories using genetic programming. Our GP based method has obtained much better results than GA based approaches for experiments of Sony AIBO ers-7 in Webots environment. The elite archive mechanism(EAM) was introduced to prevent premature convergence problems in GP and has shown improvements.

References

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[2]

Dong, H., Zhao, M., Zhang, J., Shi, Z., Zhang, N. Gait planning of quadruped robot based on third-order spline interpolation. In Proceedings of the 2006 IEEE/RSJ International Conference on Intelligent Robots and Systems(IROS'06), Beijing China October 9 -- 15, 2006.

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Chen, W. Odometry Calibration and Gait Optimisation. Technical Report, The University of New South Wales, School of Computer Science and Engineering, 2005.

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Cited By

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Nguyen VBui THasegawa H(2016)A Gait Generation for Biped Robot Based on Artificial Neural Network and Improved Self-Adaptive Differential Evolution AlgorithmInternational Journal of Machine Learning and Computing10.18178/ijmlc.2016.6.6.6086:6(260-266)Online publication date: Dec-2016
https://doi.org/10.18178/ijmlc.2016.6.6.608
Lones MFuente LTurner ACaves LStepney SSmith STyrrell A(2014)Artificial Biochemical NetworksIEEE Transactions on Evolutionary Computation10.1109/TEVC.2013.224373218:2(145-166)Online publication date: 1-Apr-2014
https://dl.acm.org/doi/10.1109/TEVC.2013.2243732
Černý JKubalík J(2013)Co-evolutionary approach to design of robotic gaitProceedings of the 16th European conference on Applications of Evolutionary Computation10.1007/978-3-642-37192-9_55(550-559)Online publication date: 3-Apr-2013
https://dl.acm.org/doi/10.1007/978-3-642-37192-9_55
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Index Terms

Genetic programming based automatic gait generation for quadruped robots
1. Computer systems organization
  1. Embedded and cyber-physical systems
    1. Robotics
2. Computing methodologies
  1. Artificial intelligence
    1. Control methods
      1. Robotic planning
    2. Planning and scheduling
      1. Robotic planning

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Published In

GECCO '08: Proceedings of the 10th annual conference on Genetic and evolutionary computation

July 2008

1814 pages

ISBN:9781605581309

DOI:10.1145/1389095

Conference Chair:
Conor Ryan
University of Limerick, Ireland
,
Editor:
Maarten Keijzer
Chordiant Software International B.V., The Netherlands

Permission to make digital or hard copies of all or part of this work for personal or classroom use is granted without fee provided that copies are not made or distributed for profit or commercial advantage and that copies bear this notice and the full citation on the first page. Copyrights for components of this work owned by others than ACM must be honored. Abstracting with credit is permitted. To copy otherwise, or republish, to post on servers or to redistribute to lists, requires prior specific permission and/or a fee. Request permissions from [email protected]

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New York, NY, United States

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Published: 12 July 2008

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GECCO08: Genetic and Evolutionary Computation Conference

July 12 - 16, 2008

GA, Atlanta, USA

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Overall Acceptance Rate 1,669 of 4,410 submissions, 38%

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Nguyen VBui THasegawa H(2016)A Gait Generation for Biped Robot Based on Artificial Neural Network and Improved Self-Adaptive Differential Evolution AlgorithmInternational Journal of Machine Learning and Computing10.18178/ijmlc.2016.6.6.6086:6(260-266)Online publication date: Dec-2016
https://doi.org/10.18178/ijmlc.2016.6.6.608
Lones MFuente LTurner ACaves LStepney SSmith STyrrell A(2014)Artificial Biochemical NetworksIEEE Transactions on Evolutionary Computation10.1109/TEVC.2013.224373218:2(145-166)Online publication date: 1-Apr-2014
https://dl.acm.org/doi/10.1109/TEVC.2013.2243732
Černý JKubalík J(2013)Co-evolutionary approach to design of robotic gaitProceedings of the 16th European conference on Applications of Evolutionary Computation10.1007/978-3-642-37192-9_55(550-559)Online publication date: 3-Apr-2013
https://dl.acm.org/doi/10.1007/978-3-642-37192-9_55
Hyun SSeo K(2011)Analysis of two evolutionary gait generation techniques for different coordinate approachesIEICE Electronics Express10.1587/elex.8.8738:11(873-878)Online publication date: 2011
https://doi.org/10.1587/elex.8.873
Gong DYan JZuo G(2010)A review of gait optimization based on evolutionary computationApplied Computational Intelligence and Soft Computing10.1155/2010/4131792010(1-19)Online publication date: 1-Jan-2010
https://dl.acm.org/doi/10.1155/2010/413179
Seo KHyun S(2010)A comparative study between genetic algorithm and genetic programming based gait generation methods for quadruped robotsProceedings of the 2010 international conference on Applications of Evolutionary Computation - Volume Part I10.1007/978-3-642-12239-2_37(352-360)Online publication date: 7-Apr-2010
https://dl.acm.org/doi/10.1007/978-3-642-12239-2_37

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A comparative study between genetic algorithm and genetic programming based gait generation methods for quadruped robots

Tree-structure-aware GP operators for automatic gait generation of quadruped robot

Toward automatic gait generation for quadruped robots using cartesian genetic programming

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