OPTIMIZING A QUADRUPED ROBOT: A COMPARISON OF TWO METHODS
The result's identifiers
Result code in IS VaVaI
<a href="https://www.isvavai.cz/riv?ss=detail&h=RIV%2F61989100%3A27230%2F21%3A10248054" target="_blank" >RIV/61989100:27230/21:10248054 - isvavai.cz</a>
Result on the web
<a href="https://www.mmscience.eu/journal/issues/june-2021/articles/optimizing-a-quadruped-robot-a-comparison-of-two-methods" target="_blank" >https://www.mmscience.eu/journal/issues/june-2021/articles/optimizing-a-quadruped-robot-a-comparison-of-two-methods</a>
DOI - Digital Object Identifier
<a href="http://dx.doi.org/10.17973/MMSJ.2021_6_2021008" target="_blank" >10.17973/MMSJ.2021_6_2021008</a>
Alternative languages
Result language
angličtina
Original language name
OPTIMIZING A QUADRUPED ROBOT: A COMPARISON OF TWO METHODS
Original language description
Robots that have been optimized in simulation often underperform in the real world in comparison to their simulated counterparts. This difference in performance is often called a reality-gap. In this paper, we use two methods, genetic algorithm and topology optimization, to optimize a quadruped robot. We look at the original and optimized robots' performance in simulation and reality and compare the results. Both methods show improvement in the robot's efficiency, however the topology optimization behaves in a more predictable manner and shows similar results in simulation and in real laboratory testing. Modifying robot morphology with a genetic algorithm, although less predictable, has a potential for more improvement in efficiency.
Czech name
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Czech description
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Classification
Type
J<sub>SC</sub> - Article in a specialist periodical, which is included in the SCOPUS database
CEP classification
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OECD FORD branch
10201 - Computer sciences, information science, bioinformathics (hardware development to be 2.2, social aspect to be 5.8)
Result continuities
Project
Result was created during the realization of more than one project. More information in the Projects tab.
Continuities
P - Projekt vyzkumu a vyvoje financovany z verejnych zdroju (s odkazem do CEP)<br>S - Specificky vyzkum na vysokych skolach
Others
Publication year
2021
Confidentiality
S - Úplné a pravdivé údaje o projektu nepodléhají ochraně podle zvláštních právních předpisů
Data specific for result type
Name of the periodical
MM Science Journal
ISSN
1803-1269
e-ISSN
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Volume of the periodical
2021
Issue of the periodical within the volume
June
Country of publishing house
CZ - CZECH REPUBLIC
Number of pages
8
Pages from-to
4348-4355
UT code for WoS article
000658344000003
EID of the result in the Scopus database
2-s2.0-85107728679