Detail publikace

The Walking Policies Automatic Generation Using Beam Search

ONDROUŠEK, V. BŘEZINA, T. KREJSA, J.

Originální název

The Walking Policies Automatic Generation Using Beam Search

Typ

článek ve sborníku ve WoS nebo Scopus

Jazyk

angličtina

Originální abstrakt

This contribution deals with the problem of automatic generation of different styles of statically stable walking gait of a four-legged robot. The search for appropriate strategies is based on the scanning of state space using an informed search algorithm called A* and an algorithm of beam search. This article compares these two methods and considers the suitability of their use. A tree is used to represent and describe the state space. The tree is generated using a set of elementary production rules chosen in order to obtain an acceptable complexity of the tree and algorithm response. Policies are continuously generated as short-time plans of robot movements. Verification of the discussed algorithms and proposed rules is provided using software simulation.

Klíčová slova

beam search, walking gait, A star, four-legged

Autoři

ONDROUŠEK, V.; BŘEZINA, T.; KREJSA, J.

Rok RIV

2006

Vydáno

31. 5. 2006

Místo

Brno

ISBN

80-214-3195-4

Kniha

Mendel 2006

Číslo edice

1

Strany od

145

Strany do

150

Strany počet

6

BibTex

@inproceedings{BUT20035,
  author="Vít {Ondroušek} and Tomáš {Březina} and Jiří {Krejsa}",
  title="The Walking Policies Automatic Generation Using Beam Search",
  booktitle="Mendel 2006",
  year="2006",
  number="1",
  pages="145--150",
  address="Brno",
  isbn="80-214-3195-4"
}