Multiobjective Optimization of a Quadruped Robot Locomotion Using a Genetic Algorithm

This paper presents a novel micro-segmented genetic algorithm (μsGA) to identify the best solution for the locomotion of a quadruped robot designed on a rectangular ABS plastic platform. We compare our algorithm with three similar algorithms found in the specialized literature: a standard genetic algorithm (GA), a micro-genetic algorithm (μGA), and a micro artificial immune system (μAIS). The quadruped robot prototype guarantees the same conditions for each test. The platform was developed using 3D printing for the structure and can accommodate the mechanisms, sensors, servomechanisms as actuators. It also has an internal battery and a multicore embedded system (mES) to process and control the robot locomotion. This research proposes a μsGA that segments the individual into specific bytes. μGA techniques are applied to each segment to reduce the processing time; the same benefits as the GA are obtained, while the use of a computer and the high computational resources characteristic of the GA are avoided. This is the reason why some research in robot locomotion is limited to simulation. The results show that the performance of μsGA is better than the three other algorithms (GA, μGA and AIS). The processing time was reduced using a mES architecture that enables parallel processing, meaning that the requirements for resources and memory were reduced. This research solves the problem of continuous locomotion of a quadruped robot, and gives a feasible solution with real performance parameters using a μsGA bio-micro algorithm and a mES architecture.

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Performance Comparisons of Bio-Micro Genetic Algorithms on Robot Locomotion

Applied Sciences ◽

10.3390/app10113863 ◽

2020 ◽

Vol 10 (11) ◽

pp. 3863

Author(s):

Francisco A. Chávez-Estrada ◽

Jacobo Sandoval-Gutiérrez ◽

Juan C. Herrera-Lozada ◽

Mauricio Olguín-Carbajal ◽

Daniel L. Martínez-Vázquez ◽

...

Keyword(s):

Genetic Algorithm ◽

Embedded System ◽

Computing Time ◽

Central Pattern Generators ◽

Quadruped Robot ◽

Robot Locomotion ◽

Real Performance ◽

Pattern Generators ◽

The Individual ◽

Computational Resources

This paper presents a comparison of four algorithms and identifies the better one in terms of convergence to the best performance for the locomotion of a quadruped robot designed. Three algorithms found in the literature review: a standard Genetic Algorithm (GA), a micro-Genetic Algorithm ( μ GA), and a micro-Artificial Immune System ( μ AIS); the fourth algorithm is a novel micro-segmented Genetic Algorithm ( μ sGA). This research shows how the computing time affects the performance in different algorithms of the gait on the robot physically; this contribution complements other studies that are limited to simulation. The μ sGA algorithm uses less computing time since the individual is segmented into specific bytes. In contrast, the use of a computer and the high demand in computational resources for the GA are avoided. The results show that the performance of μ sGA is better than the other three algorithms (GA, μ GA and μ AIS). The quadruped robot prototype guarantees the same conditions for each test. The structure of the platform was developed by 3D printing. This structure was used to accommodate the mechanisms, sensors and servomechanisms as actuators. It also has an internal battery and a multicore Embedded System (mES) to process and control the robot locomotion. The computing time was reduced using an mES architecture that enables parallel processing, meaning that the requirements for resources and memory were reduced. For example, in the experiment of a one-second gait cycle, GA uses 700% of computing time, μ GA (76%), μ AIS (32%) and μ sGA (13%). This research solves the problem of quadruped robot’s locomotion and gives a feasible solution (Central Pattern Generators, (CPGs)) with real performance parameters using a μ sGA bio-micro algorithm and a mES architecture.

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