Legged Robot Gait Locus Generation Based on Genetic Algorithms

ACM digital library
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Conference Proceeding
International Symposium on Practical Cognitive Agents and Robots (PCAR 2006) - Proceedings, 2006, pp. 51 - 62
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Achieving an effective gait locus for legged robots is a challenging task. It is often done manually in a laborious way due to the lack of research in automatic gait locus planning. Bearing this problem in mind, this article presents a gait locus planning method using inverse kinematics while incorporating genetic algorithms. Using quadruped robots as a platform for evaluation, this method is shown to generate a good gait locus for legged robots.
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