scholarly journals A biologically inspired approach to feasible gait learning for a hexapod robot

2010 ◽  
Vol 20 (1) ◽  
pp. 69-84 ◽  
Author(s):  
Dominik Belter ◽  
Piotr Skrzypczyński
Keyword(s):  
Fitness Function ◽  
Search Space ◽  
Walking Robots ◽  
Hexapod Robot ◽  
Walking Robot ◽  
Insect Behaviour ◽  
Biologically Inspired ◽  
Gait Patterns ◽  
Gait Learning ◽  
The Given

A biologically inspired approach to feasible gait learning for a hexapod robotThe objective of this paper is to develop feasible gait patterns that could be used to control a real hexapod walking robot. These gaits should enable the fastest movement that is possible with the given robot's mechanics and drives on a flat terrain. Biological inspirations are commonly used in the design of walking robots and their control algorithms. However, legged robots differ significantly from their biological counterparts. Hence we believe that gait patterns should be learned using the robot or its simulation model rather than copied from insect behaviour. However, as we have foundtahula rasalearning ineffective in this case due to the large and complicated search space, we adopt a different strategy: in a series of simulations we show how a progressive reduction of the permissible search space for the leg movements leads to the evolution of effective gait patterns. This strategy enables the evolutionary algorithm to discover proper leg co-ordination rules for a hexapod robot, using only simple dependencies between the states of the legs and a simple fitness function. The dependencies used are inspired by typical insect behaviour, although we show that all the introduced rules emerge also naturally in the evolved gait patterns. Finally, the gaits evolved in simulations are shown to be effective in experiments on a real walking robot.

scholarly journals Linkage Design and Optimisation of a Hexapod Walking Robot Used For Surveillance

2019 ◽  
Vol 8 (11) ◽  
pp. 705-708
Keyword(s):  
Basic Structure ◽  
Walking Robots ◽  
Robot Design ◽  
Hexapod Robot ◽  
Walking Robot ◽  
Walking Gait ◽  
Linkage Design ◽  
Robot Leg ◽  
Leg Design ◽  
Basic Movement

The technological advancements at the global level have put in a large demand for walking robots in various industrial and domestic applications. The aim of the paper is to develop a Hexapod (robot with six legs) walking robot that is capable of performing basic movement, such as walking forward and backward, carry payloads and used as a surveillance device. A novel robot leg design has been created with Autodesk Fusion 360, linkage mechanisms of the robot leg is determined by using Linkage 2.0 software. Stress and displacement analysis was done in Autodesk fusion360 software in order to determine whether it can hold the self-weight of the robot and the desired payload to carry the surveillance purpose (i.e. medicine, water, blood etc.). Considering all the possibilities final optimized Hexapod robot design is created using Autodesk Fusion 360 software. Mainly, the undertaken design outline takes into account the fundamental features, such as basic structure, motion planning, payload and walking gait. Fabrication of Hexapod robot parts was completed using additive manufacturing technology FDM process.

Automatic Mining of Quantitative Association Rules with Gravitational Search Algorithm

2017 ◽  
Vol 27 (03) ◽  
pp. 343-372 ◽  
Author(s):  
Umit Can ◽  
Bilal Alatas
Keyword(s):  
Association Rules ◽  
Optimization Problems ◽  
Search Algorithm ◽  
Fitness Function ◽  
Optimization Algorithms ◽  
Gravitational Search Algorithm ◽  
Search Space ◽  
Search Method ◽  
Quantitative Association Rules ◽  
Gravitational Search

The classical optimization algorithms are not efficient in solving complex search and optimization problems. Thus, some heuristic optimization algorithms have been proposed. In this paper, exploration of association rules within numerical databases with Gravitational Search Algorithm (GSA) has been firstly performed. GSA has been designed as search method for quantitative association rules from the databases which can be regarded as search space. Furthermore, determining the minimum values of confidence and support for every database which is a hard job has been eliminated by GSA. Apart from this, the fitness function used for GSA is very flexible. According to the interested problem, some parameters can be removed from or added to the fitness function. The range values of the attributes have been automatically adjusted during the time of mining of the rules. That is why there is not any requirements for the pre-processing of the data. Attributes interaction problem has also been eliminated with the designed GSA. GSA has been tested with four real databases and promising results have been obtained. GSA seems an effective search method for complex numerical sequential patterns mining, numerical classification rules mining, and clustering rules mining tasks of data mining.

Feasibility Study of Designing a Three Legged Walking Robot: Tribot

1991 ◽  
Author(s):  
Yueh-Jaw Lin ◽  
Aaron Tegland
Keyword(s):  
Feasibility Study ◽  
Legged Robots ◽  
Walking Robots ◽  
Design Parameters ◽  
Optimized Design ◽  
Motion Simulation ◽  
Walking Robot ◽  
Design Considerations ◽  
Simulation Based ◽  
Weight Distributions

Abstract In recent years, walking robot research has become an important robotic research topic because walking robots possess mobility, as oppose to stationary robots. However, current walking robot research has only concentrated on even numbered legged robots. Walking robots with odd numbered legs are still lack of attention. This paper presents the study on an odd numbered legged (three-legged) walking robot — Tribot. The feasibility of three-legged walking is first investigated using computer simulation based on a scaled down tribot model. The computer display of motion simulation shows that a walking robot with three legs is feasible with a periodic gait. During the course of the feasibility study, the general design of the three-legged robot is also analyzed for various weights, weight distributions, and link lengths. In addition, the optimized design parameters and limitations are found for certain knee arrangements. These design considerations and feasibility study using computer display can serve as a general guideline for designing odd numbered legged robots.

Predicting Force Redistributions on Walking Robots for Reliable Locomotion: Modeling and Experiments

1992 ◽  
Author(s):  
Peter V. Nagy ◽  
Subhas Desa ◽  
William L. Whittaker
Keyword(s):  
Least Squares ◽  
Least Squares Method ◽  
Walking Robots ◽  
Ground Contact ◽  
Walking Robot ◽  
Computationally Efficient ◽  
The Face ◽  
Modeling And Experiments ◽  
Stable Gait

Abstract A large number of walking robots walk with a statically-stable gait. A statically-stable walker has at least three feet that are in ground contact at any time. If there are more than three feet in ground contact, the normal (vertical) forces exerted by the ground on the feet of the walker are indeterminate, unless they are measured. Some walking robots may walk with more than three legs in ground contact in order to achieve greater stability. To ensure this stability it is desirable to predict how vertical forces passively redistribute underneath the feet during walker motions. Predictions of future foot forces can be used as a basis for accepting or rejecting any planned walker motion. Two methods — the least-squares method and the compliance method — for predicting this redistribution of forces in the face of static indeterminacy are presented in this work. Both methods are computationally efficient, and give reasonably accurate predictions, as verified by experiments on a walking robot.

Analysis of Jansen Walking Mechanism Using CAD

2010 ◽  
Vol 166-167 ◽  
pp. 297-302 ◽  
Author(s):  
Florina Moldovan ◽  
Valer Dolga
Keyword(s):  
Design Process ◽  
Computer Aided Design ◽  
Walking Robots ◽  
Walking Robot ◽  
Short Term ◽  
Computer Aided ◽  
New Type ◽  
Walking Mechanism ◽  
Aided Design ◽  
Competitive Products

In this article is presented a short classification for walking robots that are based on leg locomotion and the main objectives that walking robots designers must achieve. The leg configuration of the walking robot is essential for obtaining a stable motion. Computer aided design process offers certain advantages for designers who attend to realize competitive products with fewer errors and in a short term. The aim of this article is to present the graphical results of the kinematic analysis of a new type of walking mechanism designed by Dutch physicist and sculptor Theo Jansen using Pro Engineer program and SAM, in order to compare the results.

Design of a Four Legged Parallel Mechanism to Improve the Dexterity of Walking Robot

2009 ◽  
Author(s):  
ChiHyo Kim ◽  
KunWoo Park ◽  
TaeSung Kim ◽  
MinKi Lee
Keyword(s):  
Parallel Mechanism ◽  
Degrees Of Freedom ◽  
Jacobian Matrix ◽  
Topology Design ◽  
Condition Numbers ◽  
Walking Robots ◽  
Rough Terrain ◽  
Parallel Mechanisms ◽  
Walking Robot ◽  
Intermediate Mechanism

This paper designs a four legged parallel mechanism to improve the dexterity of three layered parallel walking robot. Topology design is conducted for a leg mechanism composed of four legs, base and ground, which constitute a redundant parallel mechanism. This mechanism is subdivided into four sub-mechanism composed of three legs. A motor vector is adopted to determine the 6×8 Jacobian of the redundant parallel mechanism and the 6×6 Jacobian of the sub-mechanisms, respectively. The condition number of the Jacobian matrix is used as an index to measure a dexterity. We analyze the condition numbers of the Jacobian over the positional and orientational walking space. The analytical results show that a sub-mechanism has lots of singularities within workspace but they are removed by a redundant parallel mechanism improving the dexterity. This paper presents a parallel typed walking robot to enlarge walking space and stability region. Seven types of three layered walking robots are designed by inserting an intermediate mechanism between the upper and the lower legged parallel mechanisms. They provide various types of gaits to walk rough terrain and climb over a wall with small degrees of freedom.

Evolutionary Conceptual Clustering Based on Induced Pseudo-Metrics

2010 ◽  
pp. 257-280
Author(s):  
Nicola Fanizzi ◽  
Claudia d’Amato ◽  
Floriana Esposito
Keyword(s):  
Distance Measure ◽  
Concept Drift ◽  
Fitness Function ◽  
Description Logics ◽  
Optimization Method ◽  
Optimal Choice ◽  
Validity Indices ◽  
Evolutionary Operators ◽  
Clustering Validity ◽  
The Given

We present a method based on clustering techniques to detect possible/probable novel concepts or concept drift in a Description Logics knowledge base. The method exploits a semi-distance measure defined for individuals, that is based on a finite number of dimensions corresponding to a committee of discriminating features (concept descriptions). A maximally discriminating group of features is obtained with a randomized optimization method. In the algorithm, the possible clusterings are represented as medoids (w.r.t. the given metric) of variable length. The number of clusters is not required as a parameter, the method is able to find an optimal choice by means of evolutionary operators and a proper fitness function. An experimentation proves the feasibility of our method and its effectiveness in terms of clustering validity indices. With a supervised learning phase, each cluster can be assigned with a refined or newly constructed intensional definition expressed in the adopted language.

Dynamically and Biologically Inspired Legged Locomotion: A Review

2017 ◽  
Vol 29 (3) ◽  
pp. 456-470 ◽  
Author(s):  
Tetsuya Kinugasa ◽  
◽  
Yasuhiro Sugimoto ◽  
Keyword(s):  
Joint Stiffness ◽  
Legged Locomotion ◽  
Travel Speed ◽  
The Body ◽  
Biological Characteristics ◽  
Body Structure ◽  
Special Issue ◽  
Biologically Inspired ◽  
Contact Conditions ◽  
Gait Patterns

[abstFig src='/00290003/01.jpg' width='300' text='Passive dynamic walking: RW03 and Jenkka III' ] Legged locomotion, such as walking, running, turning, and jumping depends strongly on the dynamics and the biological characteristics of the body involved. Gait patterns and energy efficiency, for instance, are known to be greatly affected, not only by travel speed and ground contact conditions but also by body structure such as joint stiffness and coordination, and foot sole shape. To understand legged locomotion principles, we must elucidate how the body’s dynamic and biological characteristics affect locomotion. Efforts should also be made to incorporate these characteristics inventively in order to improve locomotion performance with regard to robustness, adaptability, and efficiency, which realize more refined legged locomotion. For this special issue, we invited our readers to submit papers with approaches to achieving legged locomotion based on dynamic and biological characteristics and studies investigating the effects of these characteristics. In this paper, we review studies on dynamically and biologically inspired legged locomotion.

Optimization of Evolutionary Algorithm Using Machine Learning Techniques for Pattern Mining in Transactional Database

2020 ◽  
pp. 173-200
Author(s):  
Logeswaran K. ◽  
Suresh P. ◽  
Savitha S. ◽  
Prasanna Kumar K. R.
Keyword(s):  
Evolutionary Algorithm ◽  
Pattern Mining ◽  
Fitness Function ◽  
Search Space ◽  
Machine Learning Techniques ◽  
Dynamic Selection ◽  
Learning Techniques ◽  
Optimal Function ◽  
High Utility ◽  
Mining Algorithms

In recent years, the data analysts are facing many challenges in high utility itemset (HUI) mining from given transactional database using existing traditional techniques. The challenges in utility mining algorithms are exponentially growing search space and the minimum utility threshold appropriate to the given database. To overcome these challenges, evolutionary algorithm-based techniques can be used to mine the HUI from transactional database. However, testing each of the supporting functions in the optimization problem is very inefficient and it increases the time complexity of the algorithm. To overcome this drawback, reinforcement learning-based approach is proposed for improving the efficiency of the algorithm, and the most appropriate fitness function for evaluation can be selected automatically during execution of an algorithm. Furthermore, during the optimization process when distinct functions are skillful, dynamic selection of current optimal function is done.

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