IEEJ Transactions on Electronics, Information and Systems
Online ISSN : 1348-8155
Print ISSN : 0385-4221
ISSN-L : 0385-4221
Paper
Evolutionary Initial Poses of Reduced D.O.F’s Quadruped Robot
Ken-ichi IidaYoshitaka NakataToshio HiraTakuya KamanoTakayuki Suzuki
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2003 Volume 123 Issue 10 Pages 1806-1812

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Abstract

In this paper, an application of genetic algorithm for generation of evolutionary initial poses of a quadrupedal robot which reduced degrees of freedom is described. To reduce degree of freedom, each leg of the robot has a slider-crank mechanism and is driven by an actuator. Furthermore we introduced the forward movement mode and the rotating mode because the omnidirection movement should be made possible. To generate the suitable initial pose, the initial angle of four legs are coded under gray code and tuned by an estimation function in each mode with the genetic algorithm. As a result of generation, the cooperation of the legs is realized to move toward the omnidirection. The experimental results demonstrate that the proposed scheme is effective for generation of the suitable initial poses and the robot can walk smoothly with the generated patterns.

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© 2003 by the Institute of Electrical Engineers of Japan
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