Reusing Primitive and Acquired Motion Knowledge for Gait Generation of a Six-legged Robot Using Genetic Programming

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@Article{Kurashige:2003:IRS,
  author =       "Kentarou Kurashige and Toshio Fukuda and 
                 Haruo Hoshino",
  title =        "Reusing Primitive and Acquired Motion Knowledge for
                 Gait Generation of a Six-legged Robot Using Genetic
                 Programming",
  journal =      "Journal of Intelligent and Robotic Systems",
  year =         "2003",
  volume =       "38",
  number =       "1",
  pages =        "121--134",
  month =        sep,
  keywords =     "genetic algorithms, genetic programming, primitive
                 motion knowledge, acquired motion knowledge, six-legged
                 robot, gait generation",
  DOI =          "doi:10.1023/A:1026204313001",
  abstract =     "There has been growing interest in motion planning
                 problems for mobile robots. In this field, the main
                 research is to generate a motion for a specific robot
                 and task without previously acquired motions. However
                 it is too wasteful not to use hard-earned acquired
                 motions for other tasks. Here, we focus on a mechanism
                 of reusing acquired motion knowledge and study a motion
                 planning system able to generate and reuse motion
                 knowledge. In this paper, we adopt a tree-based
                 representation for expressing knowledge of motion, and
                 propose a hierarchical knowledge for realizing a reuse
                 mechanism. We construct a motion planning system using
                 hierarchical knowledge as motion knowledge and using
                 genetic programming as a learning method. We apply a
                 proposed method for the gait generation task of a
                 six-legged locomotion robot and show its availability
                 with computer simulation.",
  notes =        "Article ID: 5118235",
}

Genetic Programming entries for Kentarou Kurashige Toshio Fukuda Haruo Hoshino

Citations