Abstract
Manual design of motion patterns for legged robots is difficult task often with suboptimal results. To automate this process variety of approaches have been tried including various evolutionary algorithms. In this work we present an algorithm capable of generating viable motion patterns for multi-legged robots. This algorithm consists of two evolutionary algorithms working in co-evolution. The GP is evolving motion of a single leg while the GA deploys the motion to all legs of the robot. Proof-of-concept experiments show that the co-evolutionary approach delivers significantly better results than those evolved for the same robot with simple genetic programming algorithm alone.
This is a preview of subscription content, log in via an institution to check access.
Access this chapter
Tax calculation will be finalised at checkout
Purchases are for personal use only
Preview
Unable to display preview. Download preview PDF.
Similar content being viewed by others
References
Cerny, J.: Evolutionary design of robot motion patterns (June 2012), http://cyber.felk.cvut.cz/research/theses/papers/226.pdf
Crespi, A., Ijspeert, A.: Online optimization of swimming and crawling in an amphibious snake robot. IEEE Transactions on Robotics 24(1), 75–87 (2008)
Gong, D., Yan, J., Zuo, G.: A review of gait optimization based on evolutionary computation. In: Applied Computational Intelligence and Soft Computing 2010 (2010)
Kernbach, S., Meister, E., Schlachter, F., Jebens, K., Szymanski, M., Liedke, J., Laneri, D., Winkler, L., Schmickl, T., Thenius, R., et al.: Symbiotic robot organisms: Replicator and symbrion projects. In: Proceedings of the 8th Workshop on Performance Metrics for Intelligent Systems, pp. 62–69. ACM (2008)
Panait, L., Luke, S.: Alternative Bloat Control Methods. In: Deb, K., Tari, Z. (eds.) GECCO 2004. LNCS, vol. 3103, pp. 630–641. Springer, Heidelberg (2004)
Seo, K., Hyun, S.: Genetic programming based automatic gait generation for quadruped robots. In: Proceedings of the 10th Annual Conference on Genetic and Evolutionary Computation, pp. 293–294. ACM (2008)
Tanev, I., Shimohara, K.: Co-evolution of active sensing and locomotion gaits of simulated snake-like robot. In: Proceedings of the 10th Annual Conference on Genetic and Evolutionary Computation, GECCO 2008, pp. 257–264. ACM, New York (2008), http://doi.acm.org/10.1145/1389095.1389135
Vonasek, V., Fiser, D.: Sim: a general purpose 3d robotic simulator (2012), http://sim.danfis.cz/
Author information
Authors and Affiliations
Editor information
Editors and Affiliations
Rights and permissions
Copyright information
© 2013 Springer-Verlag Berlin Heidelberg
About this paper
Cite this paper
Černý, J., Kubalík, J. (2013). Co-evolutionary Approach to Design of Robotic Gait. In: Esparcia-Alcázar, A.I. (eds) Applications of Evolutionary Computation. EvoApplications 2013. Lecture Notes in Computer Science, vol 7835. Springer, Berlin, Heidelberg. https://doi.org/10.1007/978-3-642-37192-9_55
Download citation
DOI: https://doi.org/10.1007/978-3-642-37192-9_55
Publisher Name: Springer, Berlin, Heidelberg
Print ISBN: 978-3-642-37191-2
Online ISBN: 978-3-642-37192-9
eBook Packages: Computer ScienceComputer Science (R0)