In this paper, a Genetic Algorithm is used to solve for the optimization problem of a quadruped rover, which is developed based on a two-dimensional model of a domestic cat. The rover's gait, pose and control parameters are optimized for two separate objectives. First, the energy consumption through applied joint torque is minimized for fixed thrust speeds. Secondly, the rover's thrust speed is maximized. The elimination of impact on the leg at touchdown is considered by using smooth, periodic trajectories for the motion of the toe. The optimum gaits resemble those in nature, and the design variables follow similar trends with increasing speed as found in nature and other works, suggesting that energy minimization may be one of the many objectives of natural evolution.


    Zugriff

    Zugriff prüfen

    Verfügbarkeit in meiner Bibliothek prüfen

    Bestellung bei Subito €


    Exportieren, teilen und zitieren



    Titel :

    An evolutionary approach to feline rover gait planning


    Beteiligte:


    Erscheinungsdatum :

    2014-12-01


    Format / Umfang :

    365011 byte




    Medientyp :

    Aufsatz (Konferenz)


    Format :

    Elektronische Ressource


    Sprache :

    Englisch



    Rover path planning

    Ellery, Alex | Springer Verlag | 2015



    Continuous planning for an autonomous rover

    Estlin, Tara / Fisher, Forest / Gaines, Daniel et al. | NTRS | 2004


    Innovative Rover Operations Concepts - Autonomous Planner (IRONCAP) - Supporting Rover Operations Planning on Ground

    Steel, R. / Hoffman, A. / Niezette, M. et al. | British Library Conference Proceedings | 2012