Evolution of Biped Locomotion Using Linear Genetic Programming

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  author =       "Krister Wolff and Mattias Wahde",
  title =        "Evolution of Biped Locomotion Using Linear Genetic
  booktitle =    "Climbing and Walking Robots Towards New Applications",
  publisher =    "intechweb.org",
  year =         "2007",
  editor =       "Houxiang Zhang",
  type =         "Invited book chapter",
  chapter =      "16",
  pages =        "335--356",
  address =      "Vienna, Austria",
  month =        oct,
  keywords =     "genetic algorithms, genetic programming",
  isbn13 =       "978-3-902613-16-5",
  DOI =          "doi:10.5772/5088",
  abstract =     "Gait generation for bipedal robots is a very complex
                 problem. The basic cycle of a bipedal gait, called a
                 stride, consists of two main phases, namely the
                 single-support phase and the double-support phase,
                 which take place in sequence. During the single-support
                 phase, one foot is in contact with the ground and the
                 other foot is in swing motion, being transferred from
                 back to front position. In the double-support phase,
                 both feet simultaneously touch the ground, and the
                 weight of the robot is shifted from one foot to the
                 other. During the completion of a stride, the stability
                 of the robot changes dynamically, and there is always a
                 risk of tipping over. Thus it is crucial to actively
                 maintain the stability and walking balance",
  notes =        "Free download",
  size =         "22 pages",

Genetic Programming entries for Krister Wolff Mattias Wahde