Multiobjective Optimization of a Quadrupped Robot Gait (CROSBI ID 612832)
Prilog sa skupa u zborniku | izvorni znanstveni rad | međunarodna recenzija
Podaci o odgovornosti
Kočo, Edin ; Glumac, Slaven ; Kovačić, Zdenko
engleski
Multiobjective Optimization of a Quadrupped Robot Gait
This paper presents the methodology used for finding the optimal set of trajectories for a quadruped robot using multiobjective genetic algorithm optimization. The optimization evaluates the energy per distance and average speed criteria on a robot simulation model. Robot locomotion is achieved by open-loop execution of foot trajectories generated in the local leg coordinate system. Foot trajectory is formulated as a sum of harmonics which enabled great flexibility in determining the final trajectory shape. A multiobjective optimization is introduced to tune the foot trajectory parameters in order to achieve energy optimal and fast robot locomotion. The obtained Pareto frontier showed that the bound gait is optimal for lower speeds while the trot gait enabled the robot to reach its maximum speed. The paper identifies the correlation between the stride frequency and robot speed for each identified gait laying on the Pareto frontier. Finally we discuss the trajectory shape of solutions obtained using multiobjective optimization.
multiobjective optimization ; quadruped robot gait ; foot trajectory ; inverse kinematics ; energy and speed criteria
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Podaci o prilogu
1520-1526.
2014.
objavljeno
Podaci o matičnoj publikaciji
Podaci o skupu
The 22nd Mediterranean Conference on Control and Automation
predavanje
16.06.2014-19.06.2014
Palermo, Italija