Head motion stabilization during quadruped robot locomotion: combining CPGs and stochastic optimization methods
Autor(a) principal: | |
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Data de Publicação: | 2011 |
Outros Autores: | , , , |
Tipo de documento: | Artigo |
Idioma: | eng |
Título da fonte: | Repositório Científico de Acesso Aberto de Portugal (Repositórios Cientìficos) |
Texto Completo: | http://hdl.handle.net/1822/14826 |
Resumo: | In this work, the authors propose a combined approach based on a controller architecture that is able to generate locomotion for a quadruped robot and a global optimization algorithm to generate head movement stabilization. The movement controllers are biologically inspired in the concept of Central Pattern Generators (CPGs) that are modelled based on nonlinear dynamical systems, coupled Hopf oscillators. This approach allows for explicitly specified parameters such as amplitude, offset and frequency of movement and to smoothly modulate the generated oscillations according to changes in these parameters. The overall idea is to generate head movement opposed to the one induced by locomotion, such that the head remains stabilized. Thus, in order to achieve this desired head movement, it is necessary to appropriately tune the CPG parameters. Three different global optimization algorithms search for this best set of parameters. In order to evaluate the resulting head movement, a fitness function based on the Euclidean norm is investigated. Moreover, a constraint-handling technique based on tournament selection was implemented. |
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spelling |
Head motion stabilization during quadruped robot locomotion: combining CPGs and stochastic optimization methodsAutonomous robotsBio-Inspired architectureConstraint-handling techniquesCPGs,In this work, the authors propose a combined approach based on a controller architecture that is able to generate locomotion for a quadruped robot and a global optimization algorithm to generate head movement stabilization. The movement controllers are biologically inspired in the concept of Central Pattern Generators (CPGs) that are modelled based on nonlinear dynamical systems, coupled Hopf oscillators. This approach allows for explicitly specified parameters such as amplitude, offset and frequency of movement and to smoothly modulate the generated oscillations according to changes in these parameters. The overall idea is to generate head movement opposed to the one induced by locomotion, such that the head remains stabilized. Thus, in order to achieve this desired head movement, it is necessary to appropriately tune the CPG parameters. Three different global optimization algorithms search for this best set of parameters. In order to evaluate the resulting head movement, a fitness function based on the Euclidean norm is investigated. Moreover, a constraint-handling technique based on tournament selection was implemented.Universidade do MinhoOliveira, MiguelSantos, CristinaCosta, L.Rocha, Ana Maria A. C.Ferreira, Manuel João Oliveira2011-032011-03-01T00:00:00Zinfo:eu-repo/semantics/publishedVersioninfo:eu-repo/semantics/articleapplication/pdfhttp://hdl.handle.net/1822/14826enginfo:eu-repo/semantics/openAccessreponame:Repositório Científico de Acesso Aberto de Portugal (Repositórios Cientìficos)instname:Agência para a Sociedade do Conhecimento (UMIC) - FCT - Sociedade da Informaçãoinstacron:RCAAP2023-07-21T12:53:49Zoai:repositorium.sdum.uminho.pt:1822/14826Portal AgregadorONGhttps://www.rcaap.pt/oai/openaireopendoar:71602024-03-19T19:53:18.342937Repositório Científico de Acesso Aberto de Portugal (Repositórios Cientìficos) - Agência para a Sociedade do Conhecimento (UMIC) - FCT - Sociedade da Informaçãofalse |
dc.title.none.fl_str_mv |
Head motion stabilization during quadruped robot locomotion: combining CPGs and stochastic optimization methods |
title |
Head motion stabilization during quadruped robot locomotion: combining CPGs and stochastic optimization methods |
spellingShingle |
Head motion stabilization during quadruped robot locomotion: combining CPGs and stochastic optimization methods Oliveira, Miguel Autonomous robots Bio-Inspired architecture Constraint-handling techniques CPGs, |
title_short |
Head motion stabilization during quadruped robot locomotion: combining CPGs and stochastic optimization methods |
title_full |
Head motion stabilization during quadruped robot locomotion: combining CPGs and stochastic optimization methods |
title_fullStr |
Head motion stabilization during quadruped robot locomotion: combining CPGs and stochastic optimization methods |
title_full_unstemmed |
Head motion stabilization during quadruped robot locomotion: combining CPGs and stochastic optimization methods |
title_sort |
Head motion stabilization during quadruped robot locomotion: combining CPGs and stochastic optimization methods |
author |
Oliveira, Miguel |
author_facet |
Oliveira, Miguel Santos, Cristina Costa, L. Rocha, Ana Maria A. C. Ferreira, Manuel João Oliveira |
author_role |
author |
author2 |
Santos, Cristina Costa, L. Rocha, Ana Maria A. C. Ferreira, Manuel João Oliveira |
author2_role |
author author author author |
dc.contributor.none.fl_str_mv |
Universidade do Minho |
dc.contributor.author.fl_str_mv |
Oliveira, Miguel Santos, Cristina Costa, L. Rocha, Ana Maria A. C. Ferreira, Manuel João Oliveira |
dc.subject.por.fl_str_mv |
Autonomous robots Bio-Inspired architecture Constraint-handling techniques CPGs, |
topic |
Autonomous robots Bio-Inspired architecture Constraint-handling techniques CPGs, |
description |
In this work, the authors propose a combined approach based on a controller architecture that is able to generate locomotion for a quadruped robot and a global optimization algorithm to generate head movement stabilization. The movement controllers are biologically inspired in the concept of Central Pattern Generators (CPGs) that are modelled based on nonlinear dynamical systems, coupled Hopf oscillators. This approach allows for explicitly specified parameters such as amplitude, offset and frequency of movement and to smoothly modulate the generated oscillations according to changes in these parameters. The overall idea is to generate head movement opposed to the one induced by locomotion, such that the head remains stabilized. Thus, in order to achieve this desired head movement, it is necessary to appropriately tune the CPG parameters. Three different global optimization algorithms search for this best set of parameters. In order to evaluate the resulting head movement, a fitness function based on the Euclidean norm is investigated. Moreover, a constraint-handling technique based on tournament selection was implemented. |
publishDate |
2011 |
dc.date.none.fl_str_mv |
2011-03 2011-03-01T00:00:00Z |
dc.type.status.fl_str_mv |
info:eu-repo/semantics/publishedVersion |
dc.type.driver.fl_str_mv |
info:eu-repo/semantics/article |
format |
article |
status_str |
publishedVersion |
dc.identifier.uri.fl_str_mv |
http://hdl.handle.net/1822/14826 |
url |
http://hdl.handle.net/1822/14826 |
dc.language.iso.fl_str_mv |
eng |
language |
eng |
dc.rights.driver.fl_str_mv |
info:eu-repo/semantics/openAccess |
eu_rights_str_mv |
openAccess |
dc.format.none.fl_str_mv |
application/pdf |
dc.source.none.fl_str_mv |
reponame:Repositório Científico de Acesso Aberto de Portugal (Repositórios Cientìficos) instname:Agência para a Sociedade do Conhecimento (UMIC) - FCT - Sociedade da Informação instacron:RCAAP |
instname_str |
Agência para a Sociedade do Conhecimento (UMIC) - FCT - Sociedade da Informação |
instacron_str |
RCAAP |
institution |
RCAAP |
reponame_str |
Repositório Científico de Acesso Aberto de Portugal (Repositórios Cientìficos) |
collection |
Repositório Científico de Acesso Aberto de Portugal (Repositórios Cientìficos) |
repository.name.fl_str_mv |
Repositório Científico de Acesso Aberto de Portugal (Repositórios Cientìficos) - Agência para a Sociedade do Conhecimento (UMIC) - FCT - Sociedade da Informação |
repository.mail.fl_str_mv |
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1799133128246165504 |