抄録
In this paper, an application of genetic algorithm for a quadrupedal robot is described. Each leg of the quadrupedal robot has a slider-crank mechanism and is driven by an actuator. To generate the optimum gait pattern for the robot, the quisi-optimum phase shift of the actuator in each leg is evolutionary generated by the genetic algorithm so that the walking distance increases within the trial period. The experimental results demonstrate that the proposed scheme is effective for generation of the optimum gait patterns and the robot can walk smoothly with the generated gait patterns under some walking conditions.
