Motion generation of multi-legged robot in complex terrains by using estimation of distribution algorithm
2017 IEEE Symposium Series on Computational Intelligence (SSCI)(2017)
摘要
Motion generation is one of the most important and challenging problems in multi-legged robot research. Most of the existing methods show a good fulfillment of the requirements of robots in structured environments. However, it still faces many challenges to generate motions effectively and quickly for multi-legged robot works in complex environments. In this paper, we put forward a method which converts the motion generation problem into a Multi-objective Optimization Problem (MOP), which will make the robot not only run as fast as possible, but also save energy, and then use a distribution estimation algorithm, the trend prediction model method, to obtain motions for a six-legged robot. Experiments show that this method is effective.
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关键词
Robotics,Multi-legged Robot,Motion Generation,Estimation of Distribution Algorithm
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