A STUDY ON HEXAPOD GAIT ADAPTATION BY ENUMERATIVE ENCODING AND PARTICLE SWARM OPTIMIZATION

Victor Parque*

*この研究の対応する著者

研究成果: Conference contribution

抄録

Adapting to actuator failures is relevant robotic systems to continuously perform tasks such as exploration and mapping of unknown environments. This paper studies the adaptation ability to faulty hexapod legs by using an enumerative encoding scheme of the gaits locomotion strategy. The computational studies using the feasible set of leg failures through a physics-enabled simulation environment show (1) the feasibility of using the factoradic representation to explore feasible hexapod gait recoveries, and (2) the effectiveness of using an exploitative particle swarm-based heuristic to find feasible recovery strategies with minimal deviation to pre-defined locomotion commands under a small number of objective function evaluations. The results has the potential to further explore the enumerative encoding scheme and population-based optimization heuristics to render feasible hexapod gaits when actuators become malfunction on the field.

本文言語English
ホスト出版物のタイトル42nd Computers and Information in Engineering Conference (CIE)
出版社American Society of Mechanical Engineers (ASME)
ISBN(電子版)9780791886212
DOI
出版ステータスPublished - 2022
イベントASME 2022 International Design Engineering Technical Conferences and Computers and Information in Engineering Conference, IDETC-CIE 2022 - St. Louis, United States
継続期間: 2022 8月 142022 8月 17

出版物シリーズ

名前Proceedings of the ASME Design Engineering Technical Conference
2

Conference

ConferenceASME 2022 International Design Engineering Technical Conferences and Computers and Information in Engineering Conference, IDETC-CIE 2022
国/地域United States
CitySt. Louis
Period22/8/1422/8/17

ASJC Scopus subject areas

  • 機械工学
  • コンピュータ グラフィックスおよびコンピュータ支援設計
  • コンピュータ サイエンスの応用
  • モデリングとシミュレーション

フィンガープリント

「A STUDY ON HEXAPOD GAIT ADAPTATION BY ENUMERATIVE ENCODING AND PARTICLE SWARM OPTIMIZATION」の研究トピックを掘り下げます。これらがまとまってユニークなフィンガープリントを構成します。

引用スタイル