Utilize este identificador para referenciar este registo:
https://hdl.handle.net/1822/14826
Título: | Head motion stabilization during quadruped robot locomotion: combining CPGs and stochastic optimization methods |
Autor(es): | Oliveira, Miguel Santos, Cristina Costa, L. Rocha, Ana Maria A. C. Ferreira, Manuel João Oliveira |
Palavras-chave: | Autonomous robots Bio-Inspired architecture Constraint-handling techniques CPGs, |
Data: | Mar-2011 |
Revista: | International Journal of Natural Computing Research (ijncr) |
Resumo(s): | In this work, the authors propose a combined approach based on a controller architecture that is able to generate locomotion for a quadruped robot and a global optimization algorithm to generate head movement stabilization. The movement controllers are biologically inspired in the concept of Central Pattern Generators (CPGs) that are modelled based on nonlinear dynamical systems, coupled Hopf oscillators. This approach allows for explicitly specified parameters such as amplitude, offset and frequency of movement and to smoothly modulate the generated oscillations according to changes in these parameters. The overall idea is to generate head movement opposed to the one induced by locomotion, such that the head remains stabilized. Thus, in order to achieve this desired head movement, it is necessary to appropriately tune the CPG parameters. Three different global optimization algorithms search for this best set of parameters. In order to evaluate the resulting head movement, a fitness function based on the Euclidean norm is investigated. Moreover, a constraint-handling technique based on tournament selection was implemented. |
Tipo: | Artigo |
URI: | https://hdl.handle.net/1822/14826 |
Arbitragem científica: | yes |
Acesso: | Acesso aberto |
Aparece nas coleções: | DEI - Artigos em revistas internacionais |
Ficheiros deste registo:
Ficheiro | Descrição | Tamanho | Formato | |
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R7-Head Motion Stabilization During Quadruped Robot Locomotion_2.pdf | 265,46 kB | Adobe PDF | Ver/Abrir |