许涛, 陈启军. 四腿机器人步态参数自动进化研究与实现[J]. 机器人, 2009, 31(1): 72-76,81.
引用本文: 许涛, 陈启军. 四腿机器人步态参数自动进化研究与实现[J]. 机器人, 2009, 31(1): 72-76,81.
XU Tao, CHEN Qi-jun. Research and Implementation of Automatic Gait Evolution for 4-Legged Robot[J]. ROBOT, 2009, 31(1): 72-76,81.
Citation: XU Tao, CHEN Qi-jun. Research and Implementation of Automatic Gait Evolution for 4-Legged Robot[J]. ROBOT, 2009, 31(1): 72-76,81.

四腿机器人步态参数自动进化研究与实现

Research and Implementation of Automatic Gait Evolution for 4-Legged Robot

  • 摘要: 采用进化算法和基于自主视觉的适应度评估方法,实现了四腿机器人在RoboCup机器人足球比赛现场的行走步态在线自动进化.我们引入内推法作为交叉方法,利用PC基站进行进化算法计算和流程主控,并采用了一些学习时间缩减策略.实现了进化学习的连续性和可扩展性,使得学习过程可以在40-60 min内完成,这样就能在比赛现场对ERS-7四足机器人进行行走再学习,提高了行走控制的适应性.算泫最终结果使ERS-7型四足机器人的行走速度从27 cm/s提升到43 cm/s.

     

    Abstract: By adopting evolution algorithm and autonomous-vision-based fitness evaluation approaches,the on-line au- tomatic gait evolution of 4-legged robot in a RoboCup soccer field is realized.We incorporate interpolation method as the crossover method,use a PC base station to conduct algorithm calculation and flow control,and adopt some time-cutting strategies.The evolutionary learning is implemented with high continuity and expansibility,and the whole learning process can be completed within 40-60 minutes.In-field gait re-learning of the ERS-7 4-legged robot is realized,and the adaptability of walking control is improved.At last,the walking speed of ERS-7 4-legged robots is increased from 27 cm/s to 43 cm/s with the proposed algorithm.

     

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