Abstract
This paper extends the authors' previous results on optimal fault tolerant locomotion of the hexapod walking robot over even terrain by generalizing the shape of ground. A method of searching the optimal or near optimal fault tolerant sequence of free gaits over rough terrain using evolutionary programming is proposed. Based on the sequence of gaits derived on even terrain, the proposed algorithm searches the foothold positions guaranteeing optimal locomotion and maintaining fault stability margin non-negative. The effectiveness of the proposed algorithm is demonstrated with computer simulations.
| Original language | English |
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| Pages | 489-493 |
| Number of pages | 5 |
| State | Published - 1997 |
| Event | Proceedings of the 1997 IEEE International Conference on Evolutionary Computation, ICEC'97 - Indianapolis, IN, USA Duration: 13 Apr 1997 → 16 Apr 1997 |
Conference
| Conference | Proceedings of the 1997 IEEE International Conference on Evolutionary Computation, ICEC'97 |
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| City | Indianapolis, IN, USA |
| Period | 13/04/97 → 16/04/97 |