Publication detail
The Automatic Generation of Walking Policies for a Four-Legged Robot in a Nondeterministic Space
ONDROUŠEK, V. BŘEZINA, T.
Czech 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
Paper in proceedings (conference paper)
Language
cs
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.
Keywords in English
walking gait, four-legged robot, A-star
Released
2006-05-15
Location
Praha
ISBN
80-86246-27-2
Book
Engeneering Mechanics 2006
Pages from–to
272–273
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"
}