Optimal turning gait of a six-legged robot using a GA-fuzzy approach

Pratihar, Dilip Kumar ; Deb, Kalyanmoy ; Ghosh, Amitabha (2000) Optimal turning gait of a six-legged robot using a GA-fuzzy approach AI EDAM, 14 (3). pp. 207-219. ISSN 0890-0604

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Official URL: http://journals.cambridge.org/action/displayAbstra...

Related URL: http://dx.doi.org/10.1017/S0890060400143033


This paper describes a new method for generating the turning-gait of a six-legged robot using a combined genetic algorithm (GA)-Fuzzy approach. The main drawback of the traditional methods of gait generation is their high computational load. Thus, there is still a need for the development of a computationally tractable algorithm that can be implemented online to generate stable gait of a multilegged robot. In the proposed genetic-fuzzy system, the fuzzy logic controllers (FLCs) are used to generate the stable gait of a hexapod and a GA is used to improve the performance of the FLCs. The effectiveness of the proposed algorithm is tested on a number of turning-gait generation problems of a hexapod that involve translation as well as rotation of the vehicle. The hexapod will have to take a sharp circular turn (either clockwise or counter-clockwise) with minimum number of ground legs having the maximum average kinematic margin. Moreover, the stability margin should lie within a certain range to ensure static stability of the vehicle. Each leg of a six-legged robot is controlled by a separate FLC and the performance of the controllers is improved by using a GA. It is to be noted that the actual optimization is done off-line and the hexapod can use these optimized FLCs to navigate in real-world scenarios. As an FLC is computationally less expensive, the proposed algorithm will be faster compared with the traditional methods of gait-generation, which include both graphical as well as analytical methods. The GA-tuned FLCs are found to perform better than the author-defined FLCs.

Item Type:Article
Source:Copyright of this article belongs to Cambridge University Press.
Keywords:Genetic-fuzzy System; Turning-gait; Hexapod; Static Stability; Kinematic Margin
ID Code:11840
Deposited On:13 Nov 2010 13:49
Last Modified:05 Jan 2012 20:16

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