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
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Czech description
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Classification
Type
D - Article in proceedings
CEP classification
JC - Computer hardware and software
OECD FORD branch
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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
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e-ISSN
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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
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