Detail publikace
The Walking Policies Automatic Generation Using Beam Search
ONDROUŠEK, V. BŘEZINA, T. KREJSA, J.
Anglický název
The Walking Policies Automatic Generation Using Beam Search
Typ
Stať ve sborníku v databázi WoS či Scopus
Jazyk
en
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 anglicky
beam search, walking gait, A star, four-legged
Vydáno
2006-05-31
Místo
Brno
ISBN
80-214-3195-4
Kniha
Mendel 2006
Strany od–do
145–150
Počet stran
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"
}