Abstract
In this paper, we describe an optimization approach to the legged locomotion problem. We designed a software environment to manipulate parametrized robot models. This environment is a platform developed for future experiments and for educational robotics purpose. It allows to generate dynamic models and simulate them using a physics engine. Experiments can then be made with both morphological and controller optimization. Here we describe the environment, propose a simple open loop generic controller for legged robots and discuss experiments that were made on a robot corpus using a black-box optimization.
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- 1.
Videos showing the editor is available at https://www.youtube.com/watch?v=smHctwi05Ic.
- 2.
A video of the obtained behaviors is available: https://www.youtube.com/watch?v=GF1KM7JrmC0.
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Passault, G., Rouxel, Q., Fabre, R., N’Guyen, S., Ly, O. (2016). Optimizing Morphology and Locomotion on a Corpus of Parametric Legged Robots. In: Lepora, N., Mura, A., Mangan, M., Verschure, P., Desmulliez, M., Prescott, T. (eds) Biomimetic and Biohybrid Systems. Living Machines 2016. Lecture Notes in Computer Science(), vol 9793. Springer, Cham. https://doi.org/10.1007/978-3-319-42417-0_21
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DOI: https://doi.org/10.1007/978-3-319-42417-0_21
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