The construction of a locomotion controller for legged robots is a difficult and time consuming process. This task can be automated through the use of evolutionary techniques and an appropriately chosen control system. The presented approach utilizes a genetic algorithm that evolves the parameters for a spline controller. The controller outputs its control signals to a virtual robot in a mechanical simulator, enabling the robot designer to preview the robots locomotion patterns. This approach has shown to produce walking patterns for a number of robots with differing morphology. Extensions to the basic spline controller allow various forms of sensory information to be encoded enabling the robot to maneuver over irregular terrain. The resulting system has shown to be a simple and efficient method for automated controller design.
|Title of host publication||Robotic Welding, Intelligence and Automation|
|Editors||Tzyh-Jong Tarn, Shan-Ben Chen, Changjiu Zhou|
|Place of Publication||Heidelberg|
|Publication status||Published - 2004|
|Name||Lecture Notes in Control and Information Sciences|