Optimizing Robotic Cheetah Leg Parameters Using Evolutionary Algorithms

Autor:	Ivan I. Borisov, Sergey A. Kolyubin, Artem A. Egorov, Maxim Buzdalov
Rok vydání:	2020
Předmět:	Computer Science::Robotics Fitness function Control algorithm Simple (abstract algebra) Computer science Evolutionary algorithm Motion (geometry) Energy minimization Algorithm Two stages
Zdroj:	Lecture Notes in Computer Science ISBN: 9783030637095 BIOMA
Popis:	We present a new application suitable for evolutionary algorithms: geometry optimization for robotic applications. Our working example is a robotic cheetah leg, which uses simple control algorithms, but accurately crafted and tuned mechanics to maximize motion efficiency. In this paper we aim at tuning its parameters, such that the joints of the leg follow the desired trajectories as close as possible. Optimization is done in two stages involving just two parameters each.
Databáze:	OpenAIRE
Externí odkaz:	https://explore.openaire.eu/search/publication?articleId=doi_________::17659d54d159743ba7db39d90952aba3 https://doi.org/10.1007/978-3-030-63710-1_17 Zobrazit plný text záznamu