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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

  • Czech description

Classification

  • Type

    D - Article in proceedings

  • CEP classification

    KA - Militarism

  • OECD FORD branch

Result continuities

  • Project

  • 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

  • e-ISSN

  • 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