Leveraging Evolutionary Algorithms for Feasible Hexapod Locomotion Across Uneven Terrain
Optimizing gait stability for legged robots is a difficult problem. Even on level surfaces, effectively traversing across different textures (e.g., carpet) rests on dynamically tuning parameters in multidimensional space. Inspired by biology, evolutionary algorithms (EA) remain an attractive solutio...
Saved in:
| Main Authors: | , , |
|---|---|
| Format: | Article |
| Language: | English |
| Published: |
LibraryPress@UF
2022-05-01
|
| Series: | Proceedings of the International Florida Artificial Intelligence Research Society Conference |
| Subjects: | |
| Online Access: | https://journals.flvc.org/FLAIRS/article/view/130715 |
| Tags: |
Add Tag
No Tags, Be the first to tag this record!
|
| _version_ | 1849736534795747328 |
|---|---|
| author | Jack Vice Gita Sukthankar Pamela K. Douglas |
| author_facet | Jack Vice Gita Sukthankar Pamela K. Douglas |
| author_sort | Jack Vice |
| collection | DOAJ |
| description | Optimizing gait stability for legged robots is a difficult problem. Even on level surfaces, effectively traversing across different textures (e.g., carpet) rests on dynamically tuning parameters in multidimensional space. Inspired by biology, evolutionary algorithms (EA) remain an attractive solution for feasibly implementing robotic locomotion with both energetic economy and rapid parameter convergence. Here, we leveraged this class of algorithms to evolve a stable hexapod gait controller capable of traversing uneven terrain and obstacles. Gait parameters were evolved in a rigid body dynamics simulation on an 8 x 3 meter obstacle course comprised of random step field, linear obstacles and inclined surfaces. Using a fitness function that jointly optimized locomotion velocity and stability, we found that multiple successful gait parameter evolutions yielded specialized functionality for each leg. Specific gait parameters were identified as critical to developing a rough terrain gait. |
| format | Article |
| id | doaj-art-67609da08489454cbc80178c84c565d6 |
| institution | DOAJ |
| issn | 2334-0754 2334-0762 |
| language | English |
| publishDate | 2022-05-01 |
| publisher | LibraryPress@UF |
| record_format | Article |
| series | Proceedings of the International Florida Artificial Intelligence Research Society Conference |
| spelling | doaj-art-67609da08489454cbc80178c84c565d62025-08-20T03:07:14ZengLibraryPress@UFProceedings of the International Florida Artificial Intelligence Research Society Conference2334-07542334-07622022-05-013510.32473/flairs.v35i.13071566914Leveraging Evolutionary Algorithms for Feasible Hexapod Locomotion Across Uneven TerrainJack Vice0Gita Sukthankar1Pamela K. Douglas2University of Central FloridaUniversity of Central FloridaUniversity of Central FloridaOptimizing gait stability for legged robots is a difficult problem. Even on level surfaces, effectively traversing across different textures (e.g., carpet) rests on dynamically tuning parameters in multidimensional space. Inspired by biology, evolutionary algorithms (EA) remain an attractive solution for feasibly implementing robotic locomotion with both energetic economy and rapid parameter convergence. Here, we leveraged this class of algorithms to evolve a stable hexapod gait controller capable of traversing uneven terrain and obstacles. Gait parameters were evolved in a rigid body dynamics simulation on an 8 x 3 meter obstacle course comprised of random step field, linear obstacles and inclined surfaces. Using a fitness function that jointly optimized locomotion velocity and stability, we found that multiple successful gait parameter evolutions yielded specialized functionality for each leg. Specific gait parameters were identified as critical to developing a rough terrain gait.https://journals.flvc.org/FLAIRS/article/view/130715legged locomotionevolutionary algorithms |
| spellingShingle | Jack Vice Gita Sukthankar Pamela K. Douglas Leveraging Evolutionary Algorithms for Feasible Hexapod Locomotion Across Uneven Terrain Proceedings of the International Florida Artificial Intelligence Research Society Conference legged locomotion evolutionary algorithms |
| title | Leveraging Evolutionary Algorithms for Feasible Hexapod Locomotion Across Uneven Terrain |
| title_full | Leveraging Evolutionary Algorithms for Feasible Hexapod Locomotion Across Uneven Terrain |
| title_fullStr | Leveraging Evolutionary Algorithms for Feasible Hexapod Locomotion Across Uneven Terrain |
| title_full_unstemmed | Leveraging Evolutionary Algorithms for Feasible Hexapod Locomotion Across Uneven Terrain |
| title_short | Leveraging Evolutionary Algorithms for Feasible Hexapod Locomotion Across Uneven Terrain |
| title_sort | leveraging evolutionary algorithms for feasible hexapod locomotion across uneven terrain |
| topic | legged locomotion evolutionary algorithms |
| url | https://journals.flvc.org/FLAIRS/article/view/130715 |
| work_keys_str_mv | AT jackvice leveragingevolutionaryalgorithmsforfeasiblehexapodlocomotionacrossuneventerrain AT gitasukthankar leveragingevolutionaryalgorithmsforfeasiblehexapodlocomotionacrossuneventerrain AT pamelakdouglas leveragingevolutionaryalgorithmsforfeasiblehexapodlocomotionacrossuneventerrain |