Abstract
In obstacle avoidance by a legged mobile robot, it is not necessary to avoid all of the obstacles by turning only, because it can climb or stride over some of them, depending on the obstacle configuration and the state of the robot, unlike a wheel-type or a crawler-type robot. It is thought that mobility efficiency to a destination is improved by crawling over or striding over obstacles. Moreover, if robots have many legs, like 4-legged or 6-legged types, then the robot's movement range is affected by the order of the swing leg. In this article a neural network (NN) is used to determine the action of a quadruped robot in an obstacle-avoiding situation by using information about the destination, the obstacle configuration, and the robot's self-state. To acquire a free gait in static walking, the order of the swing leg is realized using an alternative NN whose inputs are the amount of movement and the robot's self-state. The design parameters of the former NN are adjusted by a genetic algorithm (GA) off-line.
| Original language | English |
|---|---|
| Pages (from-to) | 188-193 |
| Number of pages | 6 |
| Journal | Artificial Life and Robotics |
| Volume | 9 |
| Issue number | 4 |
| DOIs | |
| Publication status | Published - Dec 2005 |
| Externally published | Yes |
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Keywords
- Free gait
- Genetic algorithm
- Neural network
- Obstacle avoidance
- Quadruped robot
ASJC Scopus subject areas
- Artificial Intelligence
Cite this
Neural network approach to acquiring free-gait motion of quadruped robots in obstacle avoidance. / Yamaguchi, Tomohiro; Watanabe, Keigo; Izumi, Kiyotaka.
In: Artificial Life and Robotics, Vol. 9, No. 4, 12.2005, p. 188-193.Research output: Contribution to journal › Article
}
TY - JOUR
T1 - Neural network approach to acquiring free-gait motion of quadruped robots in obstacle avoidance
AU - Yamaguchi, Tomohiro
AU - Watanabe, Keigo
AU - Izumi, Kiyotaka
PY - 2005/12
Y1 - 2005/12
N2 - In obstacle avoidance by a legged mobile robot, it is not necessary to avoid all of the obstacles by turning only, because it can climb or stride over some of them, depending on the obstacle configuration and the state of the robot, unlike a wheel-type or a crawler-type robot. It is thought that mobility efficiency to a destination is improved by crawling over or striding over obstacles. Moreover, if robots have many legs, like 4-legged or 6-legged types, then the robot's movement range is affected by the order of the swing leg. In this article a neural network (NN) is used to determine the action of a quadruped robot in an obstacle-avoiding situation by using information about the destination, the obstacle configuration, and the robot's self-state. To acquire a free gait in static walking, the order of the swing leg is realized using an alternative NN whose inputs are the amount of movement and the robot's self-state. The design parameters of the former NN are adjusted by a genetic algorithm (GA) off-line.
AB - In obstacle avoidance by a legged mobile robot, it is not necessary to avoid all of the obstacles by turning only, because it can climb or stride over some of them, depending on the obstacle configuration and the state of the robot, unlike a wheel-type or a crawler-type robot. It is thought that mobility efficiency to a destination is improved by crawling over or striding over obstacles. Moreover, if robots have many legs, like 4-legged or 6-legged types, then the robot's movement range is affected by the order of the swing leg. In this article a neural network (NN) is used to determine the action of a quadruped robot in an obstacle-avoiding situation by using information about the destination, the obstacle configuration, and the robot's self-state. To acquire a free gait in static walking, the order of the swing leg is realized using an alternative NN whose inputs are the amount of movement and the robot's self-state. The design parameters of the former NN are adjusted by a genetic algorithm (GA) off-line.
KW - Free gait
KW - Genetic algorithm
KW - Neural network
KW - Obstacle avoidance
KW - Quadruped robot
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UR - http://www.scopus.com/inward/citedby.url?scp=31144445970&partnerID=8YFLogxK
U2 - 10.1007/s10015-005-0344-x
DO - 10.1007/s10015-005-0344-x
M3 - Article
AN - SCOPUS:31144445970
VL - 9
SP - 188
EP - 193
JO - Artificial Life and Robotics
JF - Artificial Life and Robotics
SN - 1433-5298
IS - 4
ER -