Fitness biasing to produce adaptive gaits for hexapod robots

2004 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS)

Volumn 3, Issue , 2004, Pages 2843-2848

  Parker, Gary B ^a  

^a The Holleran Center for Community Action and Public Policy   (United States)

Author keywords

Anytime learning; Control; Evolutionary robotics; Genetic algorithms; Locomotion; Six legged robot

Indexed keywords

COMPUTATIONAL METHODS; MATHEMATICAL MODELS; MOBILE ROBOTS; NEURAL NETWORKS; ROBOT LEARNING; ROBOTICS;

ANYTIME LEARNING; EVOLUTIONARY ROBOTICS; LOCOMOTION; SIX-LEGGED ROBOTS;

GAIT ANALYSIS;

EID: 14044252217     PISSN: None     EISSN: None     Source Type: Conference Proceeding    
DOI: None     Document Type: Conference Paper

References (10)

1. Parker, G., Braun, D., and Cyliax I. (1997). "Evolving Hexapod Gaits Using a Cyclic Genetic Algorithm." Proceedings of the IASTED International Conference on Artificial Intelligence and Soft Computing (ASC'97). pp. 141-144.
2. Parker, G. (2001). "The Incremental Evolution of Gaits for Hexapod Robots." Proceedings of the Genetic and Evolutionary Computation Conference (GECCO 2001). pp. 1114-1121.
3. Beer, R. D., and Gallagher, J. C. (1992). "Evolving Dynamic Neural Networks for Adaptive Behavior." Adaptive Behavior, 1, pp. 91-122.
4. Gallagher, J. C. and Beer, R. D. (1994). "Application of Evolved Locomotion Controllers to a Hexapod Robot." Technical Report CES-94-7, Department of Computer Engineering and Science, Case Western Reserve University.
5. Lewis, M. A., Fagg, A. H., and Solidum A. (1992). "Genetic Programming Approach to the Construction of a Neural Network for Control of a Walking Robot" 1992 IEEE International Conference on Robotics and Automation, pp. 2618-23.
6. Grefenstette, J. and Ramsey, C. (1992). "An Approach to Anytime Learning." Proceedings of the Ninth International Conference on Machine Learning, pp. 189-195.
7. Parker, G. (2002). "Punctuated Anytime Learning for Hexapod Gait Generation." Proceedings of the 2002 IEEE/RSJ International Conference on Intelligent Robots and Systems, pp. 2664-2671.
8. Parker, G. (2003). "Learning Adaptive Leg Cycles Using Fitness Biasing." Proceedings of the 2003 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS 2003). pp. 100-105.
9. Parker, G. and Rawlins, G. (1996). "Cyclic Genetic Algorithms for the Locomotion of Hexapod Robots." Proceedings of the World Automation Congress, Volume 3, Robotic and Manufacturing Systems, pp. 617-622.
10. Parker, G. and Mills, J. (1999). "Adaptive Hexapod Gait Control Using Anytime Learning with Fitness Biasing." Proceedings of the Genetic and Evolutionary Computation Conference. pp. 519-524.