IEICE TRANSACTIONS on Information
A Comparative Study among Three Automatic Gait Generation Methods for Quadruped Robots
Summary :
This paper introduces a comparison of three automatic gait generation methods for quadruped robots: GA (Genetic Algorithm), GP (genetic programming) and CPG (Central Pattern Generator). It aims to provide a useful guideline for the selection of gait generation methods. GA-based approaches seek to optimize paw locus in Cartesian space. GP-based techniques generate joint trajectories using regression polynomials. The CPGs are neural circuits that generate oscillatory output from an input coming from the brain. Optimizations for the three proposed methods are executed and analyzed using a Webots simulation of the quadruped robot built by Bioloid. The experimental comparisons and analyses provided herein will be an informative guidance for research of gait generation method.
- Publication
- IEICE TRANSACTIONS on Information Vol.E97-D No.2 pp.353-356
- Publication Date
- 2014/02/01
- Publicized
- Online ISSN
- 1745-1361
- DOI
- 10.1587/transinf.E97.D.353
- Type of Manuscript
- LETTER
- Category
- Artificial Intelligence, Data Mining
Authors
Kisung SEO
Seokyeong University
Soohwan HYUN
Hyundai Heavy Industries Research Institute
Keyword
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Kisung SEO, Soohwan HYUN, "A Comparative Study among Three Automatic Gait Generation Methods for Quadruped Robots" in IEICE TRANSACTIONS on Information,
vol. E97-D, no. 2, pp. 353-356, February 2014, doi: 10.1587/transinf.E97.D.353.
Abstract: This paper introduces a comparison of three automatic gait generation methods for quadruped robots: GA (Genetic Algorithm), GP (genetic programming) and CPG (Central Pattern Generator). It aims to provide a useful guideline for the selection of gait generation methods. GA-based approaches seek to optimize paw locus in Cartesian space. GP-based techniques generate joint trajectories using regression polynomials. The CPGs are neural circuits that generate oscillatory output from an input coming from the brain. Optimizations for the three proposed methods are executed and analyzed using a Webots simulation of the quadruped robot built by Bioloid. The experimental comparisons and analyses provided herein will be an informative guidance for research of gait generation method.
URL: https://global.ieice.org/en_transactions/information/10.1587/transinf.E97.D.353/_p
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@ARTICLE{e97-d_2_353,
author={Kisung SEO, Soohwan HYUN, },
journal={IEICE TRANSACTIONS on Information},
title={A Comparative Study among Three Automatic Gait Generation Methods for Quadruped Robots},
year={2014},
volume={E97-D},
number={2},
pages={353-356},
abstract={This paper introduces a comparison of three automatic gait generation methods for quadruped robots: GA (Genetic Algorithm), GP (genetic programming) and CPG (Central Pattern Generator). It aims to provide a useful guideline for the selection of gait generation methods. GA-based approaches seek to optimize paw locus in Cartesian space. GP-based techniques generate joint trajectories using regression polynomials. The CPGs are neural circuits that generate oscillatory output from an input coming from the brain. Optimizations for the three proposed methods are executed and analyzed using a Webots simulation of the quadruped robot built by Bioloid. The experimental comparisons and analyses provided herein will be an informative guidance for research of gait generation method.},
keywords={},
doi={10.1587/transinf.E97.D.353},
ISSN={1745-1361},
month={February},}
Copy
TY - JOUR
TI - A Comparative Study among Three Automatic Gait Generation Methods for Quadruped Robots
T2 - IEICE TRANSACTIONS on Information
SP - 353
EP - 356
AU - Kisung SEO
AU - Soohwan HYUN
PY - 2014
DO - 10.1587/transinf.E97.D.353
JO - IEICE TRANSACTIONS on Information
SN - 1745-1361
VL - E97-D
IS - 2
JA - IEICE TRANSACTIONS on Information
Y1 - February 2014
AB - This paper introduces a comparison of three automatic gait generation methods for quadruped robots: GA (Genetic Algorithm), GP (genetic programming) and CPG (Central Pattern Generator). It aims to provide a useful guideline for the selection of gait generation methods. GA-based approaches seek to optimize paw locus in Cartesian space. GP-based techniques generate joint trajectories using regression polynomials. The CPGs are neural circuits that generate oscillatory output from an input coming from the brain. Optimizations for the three proposed methods are executed and analyzed using a Webots simulation of the quadruped robot built by Bioloid. The experimental comparisons and analyses provided herein will be an informative guidance for research of gait generation method.
ER -
English
