Abstract
We present a parametric walk model for a four-legged robot. The walk model is improved using a genetic algorithm, but unlike previous approaches, the fitness is determined in a run that closely resembles the later application. We thus not only achieve high speeds, but also a high degree of flexibility. In addition to the walking model being flexible, we present a means of automatically calibrating the walking engine. This allows for highly precise robot control and greatly improved odometry accuracy. Lastly, we show how the motion model can be extended to integrate specialized motions to further increase locomotion speed without compromising flexibility.
Chapter PDF
Similar content being viewed by others
References
Billard, A., Ijspeert, A.J.: Biologically inspired neural controllers for motor control in a quadruped robot (2000)
Chen, J., Chung, E., Edwards, R., Wong, N., Mak, E., Sheh, R., Kim, M.S., Tang, A., Sutanto, N., Hengst, B., Sammut, C., Uther, W.: Runswift 2003. In: 7th International Workshop on RoboCup 2003 (Robot World Cup Soccer Games and Conferences). LNCS (LNAI). Springer, Heidelberg (2004)
Chen, X., Watanabe, K., Kiguchi, K., Izumi, K.: Optimal force distribution for the legs of a quadruped robot. Machine Intelligence and Robotic Control 1(2), 87–93 (1999)
Düffert, U., Jüngel, M., Laue, T., Lötzsch, M., Risler, M., Röfer, T.: GermanTeam 2002. In: Kaminka, G.A., Lima, P.U., Rojas, R. (eds.) RoboCup 2002. LNCS (LNAI), vol. 2752, Springer, Heidelberg (2003), http://www.tzi.de/kogrob/papers/GermanTeam2002.pdf
Duysens, J., de Crommert, H.V., Smits-Engelsman, B., der Helm, F.V.: A walking robot called human: lessons to be learned from neural control of locomotion. Journal of Biomechanics (2000)
Fujita, M., Zrehen, S., Kitano, H.: A quadruped robot for roboCup legged robot challenge in paris 1998. In: Asada, M., Kitano, H. (eds.) RoboCup 1998. LNCS, vol. 1604, pp. 125–140. Springer, Heidelberg (1999)
Hardt, M., von Stryk, O.: The role of motion dynamics in the design, control and stability of bipedal and quadrupedal robots
Hengst, B., Ibbotson, D., Pham, S.B., Dalgliesh, J., Lawther, M., Preston, P., Sammut, C.: The UNSW roboCup 2000 sony legged league team. In: Stone, P., Balch, T., Kraetzschmar, G.K. (eds.) RoboCup 2000. LNCS, vol. 2019, pp. 64–75. Springer, Heidelberg (2001)
Hengst, B., Ibbotson, D., Pham, S.B., Sammut, C.: Omnidirectional locomotion for quadruped robots. In: Birk, A., Coradeschi, S., Tadokoro, S. (eds.) RoboCup 2001. LNCS, vol. 2377, pp. 368–373. Springer, Heidelberg (2002)
Hoffmann, J., Düffert, U.: Frequency Space Representation and Transitions of Quadruped Robot Gaits. In: Proceedings of the 27th Conference on Australasian Computer Science, vol. 26, pp. 275–278. Australian Computer Science Society, Inc. (2004)
Hornby, G., Takamura, S., Yokono, J., Hanagata, O., Yamamoto, T., Fujita, M.: Evolving robust gaits with Aibo. In: IEEE International Conference on Robotics and Automation, pp. 3040–3045 (2000)
Hugel, V., Blazevic, P.: Towards efficient implementation of quadruped gaits with duty factor of 0.75. In: Proceedings of the IEEE International Conference on Robotics and Automation (1999)
Kimura, H., Fukuoka, Y., Hada, Y., Takase, K.: 3D adaptive dynamic walking of a quadruped robot by using neural system model (2001)
Koza, J.R.: Genetic Programming. MIT Press, Cambridge (1992)
Lenser, S., Bruce, J., Veloso, M.: CMPack: A Complete Software System for Autonomous Legged Soccer Robots (2001)
Lewis, M.A.: Gait adaptation in a quadruped robot. Autonomous Robots 12(3), 301–312 (2002)
Nolfi, S., Floreano, D.: Learing and evolution. Autonomous Robots 7(1), 89–113 (1998)
Nolfi, S., Floreano, D.: Evolutionary Robotics. MIT Press, Cambridge (2000)
Sims, K.: Evolving 3D morphology and behavior by competition. In: Brooks, R., Maes, P. (eds.) Proceedings in Artificial Life IV, pp. 28–39. MIT Press, Cambridge (1994)
Author information
Authors and Affiliations
Editor information
Editors and Affiliations
Rights and permissions
Copyright information
© 2006 Springer-Verlag Berlin Heidelberg
About this paper
Cite this paper
Düffert, U., Hoffmann, J. (2006). Reliable and Precise Gait Modeling for a Quadruped Robot. In: Bredenfeld, A., Jacoff, A., Noda, I., Takahashi, Y. (eds) RoboCup 2005: Robot Soccer World Cup IX. RoboCup 2005. Lecture Notes in Computer Science(), vol 4020. Springer, Berlin, Heidelberg. https://doi.org/10.1007/11780519_5
Download citation
DOI: https://doi.org/10.1007/11780519_5
Publisher Name: Springer, Berlin, Heidelberg
Print ISBN: 978-3-540-35437-6
Online ISBN: 978-3-540-35438-3
eBook Packages: Computer ScienceComputer Science (R0)Springer Nature Proceedings Computer Science
Keywords
These keywords were added by machine and not by the authors. This process is experimental and the keywords may be updated as the learning algorithm improves.
