There are no files associated with this item.
Full metadata record
DC Field | Value | Language |
---|---|---|
dc.citation.endPage | 318 | - |
dc.citation.number | 2 | - |
dc.citation.startPage | 306 | - |
dc.citation.title | JOURNAL OF BIONIC ENGINEERING | - |
dc.citation.volume | 18 | - |
dc.contributor.author | Kim, Jihoon | - |
dc.contributor.author | Ba, Dang Xuan | - |
dc.contributor.author | Yeom, Hoyeon | - |
dc.contributor.author | Bae, Joonbum | - |
dc.date.accessioned | 2023-12-21T16:11:19Z | - |
dc.date.available | 2023-12-21T16:11:19Z | - |
dc.date.created | 2021-03-15 | - |
dc.date.issued | 2021-03 | - |
dc.description.abstract | Evolutionary Computation (EC) has strengths in terms of computation for gait optimization. However, conventional evolutionary algorithms use typical gait parameters such as step length and swing height, which limit the trajectory deformation for optimization of the foot trajectory. Furthermore, the quantitative index of fitness convergence is insufficient. In this paper, we perform gait optimization of a quadruped robot using foot placement perturbation based on EC. The proposed algorithm has an atypical solution search range, which is generated by independent manipulation of each placement that forms the foot trajectory. A convergence index is also introduced to prevent premature cessation of learning. The conventional algorithm and the proposed algorithm are applied to a quadruped robot; walking performances are then compared by gait simulation. Although the two algorithms exhibit similar computation rates, the proposed algorithm shows better fitness and a wider search range. The evolutionary tendency of the walking trajectory is analyzed using the optimized results, and the findings provide insight into reliable leg trajectory design. | - |
dc.identifier.bibliographicCitation | JOURNAL OF BIONIC ENGINEERING, v.18, no.2, pp.306 - 318 | - |
dc.identifier.doi | 10.1007/s42235-021-0026-y | - |
dc.identifier.issn | 1672-6529 | - |
dc.identifier.scopusid | 2-s2.0-85103578884 | - |
dc.identifier.uri | https://scholarworks.unist.ac.kr/handle/201301/50172 | - |
dc.identifier.url | https://link.springer.com/article/10.1007%2Fs42235-021-0026-y | - |
dc.identifier.wosid | 000633442400004 | - |
dc.language | 영어 | - |
dc.publisher | SPRINGER SINGAPORE PTE LTD | - |
dc.title | Gait Optimization of a Quadruped Robot Using Evolutionary Computation | - |
dc.type | Article | - |
dc.description.isOpenAccess | FALSE | - |
dc.relation.journalWebOfScienceCategory | Engineering, Multidisciplinary; Materials Science, Biomaterials; Robotics | - |
dc.relation.journalResearchArea | Engineering; Materials Science; Robotics | - |
dc.type.docType | Article | - |
dc.description.journalRegisteredClass | scie | - |
dc.description.journalRegisteredClass | scopus | - |
dc.subject.keywordAuthor | bionic robot | - |
dc.subject.keywordAuthor | evolutionary computation | - |
dc.subject.keywordAuthor | genetic algorithm | - |
dc.subject.keywordAuthor | gait optimization | - |
dc.subject.keywordAuthor | parameter perturbation | - |
dc.subject.keywordAuthor | convergence index | - |
dc.subject.keywordPlus | LOCOMOTION | - |
Items in Repository are protected by copyright, with all rights reserved, unless otherwise indicated.
Tel : 052-217-1404 / Email : scholarworks@unist.ac.kr
Copyright (c) 2023 by UNIST LIBRARY. All rights reserved.
ScholarWorks@UNIST was established as an OAK Project for the National Library of Korea.