Naslov
Multiobjective Locomotion Optimization of Quadruped Robot with Different 2DOF Configurations of Actuated Spine

Autori
Kočo, Edin ; Kovačić, Zdenko.

Vrsta, podvrsta i kategorija rada
Radovi u zbornicima skupova, cjeloviti rad (in extenso), znanstveni

Izvornik
Proceedings of 24th Mediterranean Conference on Control and Automation. / Valavanis, Kimon - Atena, 2016, 504-511

Skup
24th Mediterranean Conference on Control and Automation (MED2016)

Mjesto i datum
Atena, Grčka, 21.06.2016. - 24.06.2016

Vrsta sudjelovanja
Predavanje

Vrsta recenzije
Međunarodna recenzija

Ključne riječi
multiobjective optimization; quadruped spine control; biologically inspired; energy optimal locomotion

Sažetak
This paper addresses the problem of finding a set of optimal foot and spine trajectories for a biologically inspired quadruped robot in order to obtain energy optimal and fast locomotion in forward direction. Based on the previous work of finding optimal foot trajectories we now extend the scope of problem by investigating the effects of an added 2DOF actuated spine on the characteristics of robot locomotion in comparison with rigid spine. To tackle this problem a multiobjective genetic optimization algorithm was used. Purpose of the optimization procedure is to give a better insight in which of the two spine configurations is more beneficial to studied bound and trot gaits and how to design a control strategy that utilizes the spine in an effective way.

Izvorni jezik
Engleski

Znanstvena područja
Elektrotehnika

POVEZANOST RADA