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Book synopsis

As part of the RoboCup 4-legged league, many researchers have worked on increasing the walking/gait speed of Sony AIBO robots. Recently, the effort shifted from developing a quick gait, to developing a gait that also provides a stable sensing platform. However, to date, optimization of both velocity and camera stability has only occurred usinga single fitness function that incorporates the two objectives with a weighting that defines the desired tradeoff between them. However, the true nature of this tradeoff is not understood because the pareto front has never been charted, so this a priori decision is uninformed. This project applies the Nondominated Sorting Genetic Algorithm-II (NSGA-II) to find a pareto set of fast, stable gait parameters. This allows a user to select the best tradeoff between balance and speed for a given application. Three fitness functions are defined: one speed measure and two stability measures. A plot of evolved gaits shows a pareto front that indicates speed and stability are indeed conflicting goals. Interestingly, the results also show that tradeoffs also exist between different measures of stability.

Book details

Book category Books in English Society & social sciences Education

• Full title: Multi-Objective Optimization for Speed and Stability of a Sony AIBO Gait
• Author: Christopher A Patterson
• Language: English
• Binding: Paperback
• Number of pages: 88
• EAN: 9781249374176
• ISBN: 9781249374176
• ID: 08131922
• Publisher: Biblioscholar
• Weight: 172 g
• Dimensions: 246 × 189 × 5 mm
• Date of publishing: 13. September 2012

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