Software evolution of a hexapod robot walking gait
by Jonathan Currie, Mark Beckerleg, John Collins
International Journal of Intelligent Systems Technologies and Applications (IJISTA), Vol. 8, No. 1/2/3/4, 2010

Abstract: This paper describes the process of evolving a hexapod robot walking gait within a simulated software environment. Initially, a 3D mathematical model of the robot was created using MATLAB, simulating full motion of each robot's six legs. Each leg has three degrees of freedom (DOF), allowing the robot to move in both lateral and rotational directions. The simulation allows the robot's movements to be estimated, and was used with a genetic algorithm (GA) to evolve walking gaits for the robot. The walking gait is described by a chromosome which is an 18 &multi; 9 look up table (LUT) that lists the angular position of all 18 servo motors over a sequence of 9 discrete static positions. Each position in the LUT has 20 discrete states, allowing a flexible range of achievable motions, while maintaining sensible evaluation limits. Successful evolution of these gaits was performed within 700 generations.

Online publication date: Fri, 11-Dec-2009

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