Automatic generation of biped locomotion controllers using genetic programming

Created by W.Langdon from gp-bibliography.bib Revision:1.4202

  author =       "Pedro Silva and Cristina {P. Santos} and 
                 Vitor Matos and Lino Costa",
  title =        "Automatic generation of biped locomotion controllers
                 using genetic programming",
  journal =      "Robotics and Autonomous Systems",
  volume =       "62",
  number =       "10",
  pages =        "1531--1548",
  year =         "2014",
  ISSN =         "0921-8890",
  DOI =          "doi:10.1016/j.robot.2014.05.008",
  URL =          "",
  abstract =     "Generating biped locomotion in robotic platforms is
                 hard. It has to deal with the complexity of the tasks
                 which requires the synchronisation of several joints,
                 while monitoring stability. Further, it is also
                 expected to deal with the great heterogeneity of
                 existing platforms. The generation of adaptable
                 locomotion further increases the complexity of the
                 task. In this paper, Genetic Programming (GP) is used
                 as an automatic search method for motion primitives of
                 a biped robot, that optimises a given criterion. It
                 does so by exploring and exploiting the capabilities
                 and particularities of the platform. In order to
                 increase the adaptability of the achieved solutions,
                 feedback pathways were directly included into the
                 evolutionary process through sensory inputs.
                 Simulations on a physic-based Darwin OP have shown that
                 the system is able to generate a faster gait with a
                 given stride time with improved gait temporal
                 characteristics. Further, the system was able to cope
                 with tilted ground within a specific range of slope
                 angles. The system feasibility to generate locomotion
                 more entrained with the environment was shown.",
  keywords =     "genetic algorithms, genetic programming, Central
                 pattern generator, Legged locomotion, Adaptation,
                 Sensory information",

Genetic Programming entries for Pedro Andre Moreira da Silva Cristina Manuela Peixoto dos Santos Vitor Matos Lino Antonio Antunes Fernandes da Costa