Locomotion generation by genetic programming for a multi-legged jumping robot

Masaaki Ikeda, Kiyotaka Izumi, Keigo Watanabe

Research output: Contribution to conferencePaper

Abstract

A mobile robot may move a rough terrain. The leg type is known as a migratory mechanism which moves a rough terrain. Generally three-dimensional obstacle avoidance is possible for a legged robot. However, the scope of the obstacle avoidance of a legged robot receives restriction by the operation range of a leg. Therefore, the robot cannot pass an obstacle higher than itself. So, in this paper, a multi-legged jumping robot with the mechanism which enables the jump of sufficient height is considered. In order to confirm the effectiveness of the jump mechanism in a mobile robot furthermore, the route determi- nation algorithm using the genetic programming is gained, and comparison examination of the fitness to the environment by the existence of a jump mechanism is carried out.

Original languageEnglish
Pages1283-1288
Number of pages6
Publication statusPublished - Dec 1 2010
EventJoint 5th International Conference on Soft Computing and Intelligent Systems and 11th International Symposium on Advanced Intelligent Systems, SCIS and ISIS 2010 - Okayama, Japan
Duration: Dec 8 2010Dec 12 2010

Other

OtherJoint 5th International Conference on Soft Computing and Intelligent Systems and 11th International Symposium on Advanced Intelligent Systems, SCIS and ISIS 2010
CountryJapan
CityOkayama
Period12/8/1012/12/10

ASJC Scopus subject areas

  • Artificial Intelligence
  • Information Systems

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    Ikeda, M., Izumi, K., & Watanabe, K. (2010). Locomotion generation by genetic programming for a multi-legged jumping robot. 1283-1288. Paper presented at Joint 5th International Conference on Soft Computing and Intelligent Systems and 11th International Symposium on Advanced Intelligent Systems, SCIS and ISIS 2010, Okayama, Japan.