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Evolution of multiple gaits for modular robots

The result's identifiers

  • Result code in IS VaVaI

    <a href="https://www.isvavai.cz/riv?ss=detail&h=RIV%2F68407700%3A21230%2F16%3A00307045" target="_blank" >RIV/68407700:21230/16:00307045 - isvavai.cz</a>

  • Result on the web

    <a href="http://ssci2016.cs.surrey.ac.uk/" target="_blank" >http://ssci2016.cs.surrey.ac.uk/</a>

  • DOI - Digital Object Identifier

    <a href="http://dx.doi.org/10.1109/SSCI.2016.7850182" target="_blank" >10.1109/SSCI.2016.7850182</a>

Alternative languages

  • Result language

    angličtina

  • Original language name

    Evolution of multiple gaits for modular robots

  • Original language description

    Modular robots are composed of many elementary mechatronic modules that can be connected to form a robot body of various shapes. This feature allows such a robot to adapt for a given task and particular environment. A motion of the modular robot is based on control of individual angles between the modules, and the robot locomotion can be realized using Central Pattern Generators (CPG). A robot motion in the environment with obstacles can be achieved using several locomotion controllers that are switched by a strategy based on motion planning techniques. Preparation of CPG-based gaits leads to a high-dimensional optimization that requires to design proper cost functions. Existing approaches optimize the gaits separately according to human-designed cost functions. In this paper, we investigate how to automatically derive a set of gaits suitable for modular robots without specifying low-level details about the gaits. We propose to optimize multiple gaits simultaneously using a single cost function. This cost function is based on the ability of motion planning to solve the task using the gaits being optimized. The proposed system is verified on several modular robots with unusual shapes including robots with failed modules.

  • Czech name

  • Czech description

Classification

  • Type

    D - Article in proceedings

  • CEP classification

    JC - Computer hardware and software

  • OECD FORD branch

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)

Others

  • Publication year

    2016

  • Confidentiality

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

Data specific for result type

  • Article name in the collection

    2016 IEEE Symposium Series on Computational Intelligence (IEEE SSCI 2016)

  • ISBN

    978-1-5090-4240-1

  • ISSN

  • e-ISSN

  • Number of pages

    8

  • Pages from-to

    1-8

  • Publisher name

    IEEE

  • Place of publication

    Piscataway, NJ

  • Event location

    Athens

  • Event date

    Dec 6, 2016

  • Type of event by nationality

    WRD - Celosvětová akce

  • UT code for WoS article