Cyclic Gait Learning Based on The Ant Colony Optimization
The result's identifiers
Result code in IS VaVaI
<a href="https://www.isvavai.cz/riv?ss=detail&h=RIV%2F60162694%3AG43__%2F15%3A00531653" target="_blank" >RIV/60162694:G43__/15:00531653 - isvavai.cz</a>
Result on the web
<a href="http://vavtest.unob.cz/registr" target="_blank" >http://vavtest.unob.cz/registr</a>
DOI - Digital Object Identifier
<a href="http://dx.doi.org/10.1109/MILTECHS.2015.7153688" target="_blank" >10.1109/MILTECHS.2015.7153688</a>
Alternative languages
Result language
angličtina
Original language name
Cyclic Gait Learning Based on The Ant Colony Optimization
Original language description
This paper focuses on a development of a feasible gait pattern that can be used to control hexapod robot locomotion. The main objective of the presented paper is to develop suboptimal gait pattern to control walking robot. We are considering the construction of a six-legged walking robot (Hexapod). Hexapod robot locomotion should be controlled via controller. Controller should be capable of producing in open loops coordinated walking patterns. Gait generation is an optimization problem with constrains which can change during the time. Usage of Swarm Intelligence methods to obtain feasible solution of this complex optimization task is presented in this paper. Ant Colony Optimization methods were found as an appropriate learning algorithms to accomplishthis task. The control of a hexapod locomotion would be based on the model of artificial central pattern generators. This paper proposes to invent proper leg co-ordination control using a controller learned through the Ant Colony Optimiza
Czech name
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Czech description
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Classification
Type
D - Article in proceedings
CEP classification
KA - Militarism
OECD FORD branch
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Result continuities
Project
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Continuities
S - Specificky vyzkum na vysokych skolach<br>I - Institucionalni podpora na dlouhodoby koncepcni rozvoj vyzkumne organizace
Others
Publication year
2015
Confidentiality
S - Úplné a pravdivé údaje o projektu nepodléhají ochraně podle zvláštních právních předpisů
Data specific for result type
Article name in the collection
International Conference on Military Technology Proceeding, ICMT?15
ISBN
978-80-7231-976-3
ISSN
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e-ISSN
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Number of pages
6
Pages from-to
653-658
Publisher name
University of Defence
Place of publication
Brno
Event location
Brno
Event date
Jan 1, 2015
Type of event by nationality
WRD - Celosvětová akce
UT code for WoS article
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