KIEE - The Transactions of the Korean Institute of Electrical Engineers

Mobile QR Code QR CODE : The Transactions of the Korean Institute of Electrical Engineers

QR CODE : The Transactions of the Korean Institute of Electrical Engineers

The Transactions of the Korean Institute of Electrical Engineers

The Transactions of the Korean Institute of Electrical Engineers

ISO Journal TitleTrans. Korean. Inst. Elect. Eng.

SCImago Journal & Country Rank

Main Menu

Journal Search

PDF INFO


Title	Two Evolutionary Gait Generation Methods for Quadruped Robots in Cartesian Coordinates Space and Join Coordinates Space
Authors	서기성(Seo, Kisung)
DOI	https://doi.org/10.5370/KIEE.2014.63.3.389
Page	pp.389-394
ISSN	1975-8359
Keywords	Automatic gait generation ; Quadruped robot ; Cartesian coordinate ; Joint coordinate ; Paw locus ; Joint trajectory ; Genetic algorithm ; Genetic programming ; Webots simulation
Abstract	Two evolutionary gait generation methods for Cartesian and Joint coordinates space are compared to develop a fast locomotion for quadruped robots. GA(Genetic Algorithm) based approaches seek to optimize a pre-selected set of parameters for the locus of paw and initial position in cartesian coordinates space. GP(Genetic Programming) based technique generate few joint trajectories using symbolic regression in joint coordinates space as a form of polynomials. Optimization for two proposed methods are executed using Webots simulation for the quadruped robot which is built by Bioloid. Furthermore, simulation results for two proposed methods are analysed in terms of different coordinate spaces.

© KIEE All right's reserved

This is an Open-Access article distributed under the terms of the Creative Commons Attribution Non-Commercial License (http://creativecommons.org/licenses/by-nc/3.0/) which permits unrestricted non-commercial use, distribution and reproduction in any medium, provided the original work is property cited.