Generation of optimal fault tolerant locomotion of the hexapod robot over rough terrain using evolutionary programming

Jung Min Yang; Jong Hwan Kim

Generation of optimal fault tolerant locomotion of the hexapod robot over rough terrain using evolutionary programming

Jung Min Yang
, Jong Hwan Kim

School of Electronics Engineering

Korea Advanced Institute of Science and Technology

Research output: Contribution to conference › Paper › peer-review

4 Scopus citations

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
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
City	Indianapolis, IN, USA
Period	13/04/97 → 16/04/97

Cite this

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title = "Generation of optimal fault tolerant locomotion of the hexapod robot over rough terrain using evolutionary programming",

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.",

author = "Yang, \{Jung Min\} and Kim, \{Jong Hwan\}",

year = "1997",

language = "English",

pages = "489--493",

note = "Proceedings of the 1997 IEEE International Conference on Evolutionary Computation, ICEC'97 ; Conference date: 13-04-1997 Through 16-04-1997",

}

Generation of optimal fault tolerant locomotion of the hexapod robot over rough terrain using evolutionary programming. / Yang, Jung Min; Kim, Jong Hwan.
1997. 489-493 Paper presented at Proceedings of the 1997 IEEE International Conference on Evolutionary Computation, ICEC'97, Indianapolis, IN, USA.

Research output: Contribution to conference › Paper › peer-review

TY - CONF

T1 - Generation of optimal fault tolerant locomotion of the hexapod robot over rough terrain using evolutionary programming

AU - Yang, Jung Min

AU - Kim, Jong Hwan

PY - 1997

Y1 - 1997

N2 - 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.

AB - 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.

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M3 - Paper

AN - SCOPUS:0030647441

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T2 - Proceedings of the 1997 IEEE International Conference on Evolutionary Computation, ICEC'97

Y2 - 13 April 1997 through 16 April 1997

ER -

Generation of optimal fault tolerant locomotion of the hexapod robot over rough terrain using evolutionary programming

Abstract

Conference

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