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.

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

  • 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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