Publication detail

The Automatic Generation of Walking Policies for a Four-Legged Robot in a Nondeterministic Space

ONDROUŠEK, V. BŘEZINA, T.

Original Title

The Automatic Generation of Walking Policies for a Four-Legged Robot in a Nondeterministic Space

English Title

The Automatic Generation of Walking Policies for a Four-Legged Robot in a Nondeterministic Space

Type

conference paper

Language

Czech

Original Abstract

Both the automatic policies generation and its analysis for four legged walking robot is given in this contribution. Policies generation is based on state space search which is represented by a tree. The set of elementary production rules is used for tree generation, chosen with respect to obtain suitable tree complexity and algorithm response. Further the selection of tasks operators are discussed. Those operators represent the performance of basic movements of walking robot. Policy generation is made through the A* algorithm. The policies are continuously generated as short-time plans of robot movements.

English abstract

Both the automatic policies generation and its analysis for four legged walking robot is given in this contribution. Policies generation is based on state space search which is represented by a tree. The set of elementary production rules is used for tree generation, chosen with respect to obtain suitable tree complexity and algorithm response. Further the selection of tasks operators are discussed. Those operators represent the performance of basic movements of walking robot. Policy generation is made through the A* algorithm. The policies are continuously generated as short-time plans of robot movements.

Key words in English

walking gait, four-legged robot, A-star

Authors

ONDROUŠEK, V.; BŘEZINA, T.

RIV year

2006

Released

15. 5. 2006

Location

Praha

ISBN

80-86246-27-2

Book

Engeneering Mechanics 2006

Edition number

1

Pages from

272

Pages to

273

Pages count

2

BibTex

@inproceedings{BUT20034,
  author="Vít {Ondroušek} and Tomáš {Březina}",
  title="The Automatic Generation of Walking Policies for a Four-Legged Robot in a Nondeterministic Space",
  booktitle="Engeneering Mechanics 2006",
  year="2006",
  number="1",
  pages="272--273",
  address="Praha",
  isbn="80-86246-27-2"
}