Evolution of multiple gaits for modular robots

Kód výsledku v 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>

Výsledek na webu

<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>

Jazyk výsledku

angličtina

Název v původním jazyce

Evolution of multiple gaits for modular robots

Popis výsledku v původním jazyce

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.

Název v anglickém jazyce

Evolution of multiple gaits for modular robots

Popis výsledku anglicky

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.

Druh

D - Stať ve sborníku

CEP obor

JC - Počítačový hardware a software

OECD FORD obor

—

Projekt

Výsledek vznikl pri realizaci vícero projektů. Více informací v záložce Projekty.

Návaznosti

P - Projekt vyzkumu a vyvoje financovany z verejnych zdroju (s odkazem do CEP)

Rok uplatnění

2016

Kód důvěrnosti údajů

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

Název statě ve sborníku

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

ISBN

978-1-5090-4240-1

ISSN

—

e-ISSN

—

Počet stran výsledku

8

Strana od-do

1-8

Název nakladatele

IEEE

Místo vydání

Piscataway, NJ

Místo konání akce

Athens

Datum konání akce

6. 12. 2016

Typ akce podle státní příslušnosti

WRD - Celosvětová akce

Kód UT WoS článku

—