Multi-objective parameter CPG optimization for gait generation of a quadruped robot considering behavioral diversity

IEEE International Conference on Intelligent Robots and Systems

Volumn , Issue , 2011, Pages 2286-2291

  Oliveira, Miguel ^a   Santos, Cristina P ^a   Costa, Lino ^a   Matos, Vítor ^a   Ferreira, Manuel ^a  

^a UNIVERSITY OF MINHO   (Portugal)

Author keywords

[No Author keywords available]

Indexed keywords

AUTONOMOUS DIFFERENTIAL EQUATION; BEHAVIORAL DIVERSITY; BIO-INSPIRED; BODY VIBRATION; GAIT GENERATION; LIMB MOVEMENTS; MULTI OBJECTIVE; MULTI OBJECTIVE EVOLUTIONARY ALGORITHMS; MULTI-OBJECTIVE OPTIMIZATION SYSTEMS; MULTI-OBJECTIVE PROBLEM; NSGA-II; QUADRUPED ROBOTS; STABILITY MARGINS; WALKING GAIT;

DIFFERENTIAL EQUATIONS; EVOLUTIONARY ALGORITHMS; INTELLIGENT ROBOTS; ROBOTICS;

MULTIOBJECTIVE OPTIMIZATION;

EID: 84455172138     PISSN: None     EISSN: None     Source Type: Conference Proceeding    
DOI: 10.1109/IROS.2011.6048438     Document Type: Conference Paper

References (17)

1. R. D. Beer and J. C. Gallagher. Evolving dynamical neural networks for adaptive behavior. Adaptive Behavior, 1(1):91-122, 1992.
2. S. Chernova and M. Veloso. An evolutionary approach to gait learning for four-legged robots. In Proceedings 2004 IEEE/RSJ International Conference on Intelligent Robots and Systems, IROS 2004., volume 3, pages 2562-2567 vol.3, sept.-2 oct. 2004.
3. K. Deb. An efficient constraint handling method for genetic algorithms. In Computer Methods in Applied Mechanics and Engineering, pages 311-338, 1998.
4. K. Deb, A. Pratap, S. Agarwal, and T. Meyarivan. A fast and elitist multiobjective genetic algorithm: Nsga-ii. Evolutionary Computation, IEEE Transactions on, 6(2):182-197, Apr. 2002. (Pubitemid 34555372)
5. S. Degallier, L. Righetti, L. Natale, F. Nori, G. Metta, and A. Ijspeert. A modular bio-inspired architecture for movement generation for the infant-like robot icub. In 2nd IEEE RAS EMBS International Conference on Biomedical Robotics and Biomechatronics, (BioRob 2008)., pages 795-800, oct. 2008.
6. C. Fonseca, L. Paquete, and M. Lopez-Ibanez. An improved dimension-sweep algorithm for the hypervolume indicator. In Evolutionary Computation, 2006. CEC 2006. IEEE Congress on, pages 1157-1163, 2006.
7. D. Golubovic and H. Hu. Evolving locomotion gaits for quadruped walking robots. Industrial Robot: An International Journal, 32:259-267, 2005. (Pubitemid 40821923)
8. S. Grillner. Neurobiological bases of rhythmic motor acts in vertebrates. Science, 228(4696):143-149, 1985. (Pubitemid 15117269)
9. M. Hebbel, W. Nistico, and D. Fisseler. Learning in a high dimensional space: Fast omnidirectional quadrupedal locomotion. In G. Lakemeyer, E. Sklar, D. Sorrenti, and T. Takahashi, editors, RoboCup 2006: Robot Soccer World Cup X, volume 4434 of Lecture Notes in Computer Science, pages 314-321. Springer Berlin / Heidelberg, 2007.
10. S. Koos, J.-B. Mouret, and S. Doncieux. Crossing the reality gap in evolutionary robotics by promoting transferable controllers. In Proceedings of the 12th annual conference on Genetic and evolutionary computation, GECCO '10, pages 119-126, New York, NY, USA, 2010. ACM.
11. J.-Y. Lee, M.-S. Kim, and J.-J. Lee. Multi-objective walking trajectories generation for a biped robot. In IEEE/RSJ International Conference onIntelligent Robots and Systems, 2004, IROS 2004., volume 4, pages 3853-3858 vol.4, sept.-2 oct. 2004.
12. L. Righetti and A. Ijspeert. Pattern generators with sensory feedback for the control of quadruped locomotion. In IEEE International Conference on Robotics and Automation, (ICRA 2008)., pages 819-824, may 2008.
13. T. Röfer. Evolutionary gait-optimization using a fitness function based on proprioception. In RobuCup, pages 310-322, 2004.
14. M. Saggar, T. D'Silva, N. Kohl, and P. Stone. Autonomous learning of stable quadruped locomotion. In RoboCup-2006: Robot Soccer World Cup X, volume 4434 of Lecture Notes in Artificial Intelligence, pages 98-109. Springer Verlag, Berlin, 2007.
15. C. P. Santos and V. Matos. Gait transition and modulation in a quadruped robot: A brainstem-like modulation approach. Robotics and Autonomous Systems, 59(9):620-634, 2011.
16. C. P. Santos, M. Oliveira, A. M. A. C. Rocha, and L. Costa. Head motion stabilization during quadruped robot locomotion: Combining dynamical systems and a genetic algorithm. In IEEE International Conference on Robotics and Automation, (ICRA 2009)., pages 2294-2299, may 2009.
17. S. Song and K. Waldron. Machines that Walk: The Adaptive Suspension Vehicle. MIT Press, Cambridge, 1989.