THE WALKING POLICIES AUTOMATIC GENERATION USING BEAM SEARCH

Result code in IS VaVaI

<a href="https://www.isvavai.cz/riv?ss=detail&h=RIV%2F00216305%3A26210%2F06%3APU62237" target="_blank" >RIV/00216305:26210/06:PU62237 - isvavai.cz</a>

Result on the web

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DOI - Digital Object Identifier

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Result language

angličtina

Original language name

THE WALKING POLICIES AUTOMATIC GENERATION USING BEAM SEARCH

Original language description

This contribution deals with the problem of automatic generation of different styles of statically stable walking gait of a four-legged robot. The search for appropriate strategies is based on the scanning of state space using an informed search algorithm called A* and an algorithm of beam search. This article compares these two methods and considers the suitability of their use. A tree is used to represent and describe the state space. The tree is generated using a set of elementary production rules chhosen in order to obtain an acceptable complexity of the tree and algorithm response. Policies are continuously generated as short-time plans of robot movements. Verification of the discussed algorithms and proposed rules is provided using software simulation.

Czech name

THE WALKING POLICIES AUTOMATIC GENERATION USING BEAM SEARCH

Czech description

This contribution deals with the problem of automatic generation of different styles of statically stable walking gait of a four-legged robot. The search for appropriate strategies is based on the scanning of state space using an informed search algorithm called A* and an algorithm of beam search. This article compares these two methods and considers the suitability of their use. A tree is used to represent and describe the state space. The tree is generated using a set of elementary production rules chhosen in order to obtain an acceptable complexity of the tree and algorithm response. Policies are continuously generated as short-time plans of robot movements. Verification of the discussed algorithms and proposed rules is provided using software simulation.

Type

D - Article in proceedings

CEP classification

JD - Use of computers, robotics and its application

OECD FORD branch

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Project

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Continuities

Z - Vyzkumny zamer (s odkazem do CEZ)

Publication year

2006

Confidentiality

S - Úplné a pravdivé údaje o projektu nepodléhají ochraně podle zvláštních právních předpisů

Article name in the collection

Mendel 2006

ISBN

80-214-3195-4

ISSN

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e-ISSN

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Number of pages

6

Pages from-to

145-150

Publisher name

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Place of publication

Brno

Event location

Brno University of Technology

Event date

May 31, 2006

Type of event by nationality

WRD - Celosvětová akce

UT code for WoS article

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