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Authors: César Ferreira ; Pedro Silva ; João André ; Cristina P. Santos and Lino Costa

Affiliation: University of Minho, Portugal

ISBN: 978-989-758-039-0

Keyword(s): Biped Locomotion, CPG (Central Pattern Generator), Sensory Information.

Related Ontology Subjects/Areas/Topics: Artificial Intelligence ; Computational Intelligence ; Evolutionary Computing ; Genetic Algorithms ; Informatics in Control, Automation and Robotics ; Intelligent Control Systems and Optimization ; Optimization Algorithms ; Soft Computing

Abstract: Generating biped locomotion in robotic platforms is hard. It has to deal with the complexity of the tasks which requires the synchronization 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 optimizes 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.

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Paper citation in several formats:
Ferreira, C.; Silva, P.; André, J.; P. Santos, C. and Costa, L. (2014). Genetic Programming Applied to Biped Locomotion Control with Sensory Information.In Proceedings of the 11th International Conference on Informatics in Control, Automation and Robotics - Volume 1: ICINCO, ISBN 978-989-758-039-0, pages 53-62. DOI: 10.5220/0005062700530062

@conference{icinco14,
author={César Ferreira. and Pedro Silva. and João André. and Cristina P. Santos. and Lino Costa.},
title={Genetic Programming Applied to Biped Locomotion Control with Sensory Information},
booktitle={Proceedings of the 11th International Conference on Informatics in Control, Automation and Robotics - Volume 1: ICINCO,},
year={2014},
pages={53-62},
publisher={SciTePress},
organization={INSTICC},
doi={10.5220/0005062700530062},
isbn={978-989-758-039-0},
}

TY - CONF

JO - Proceedings of the 11th International Conference on Informatics in Control, Automation and Robotics - Volume 1: ICINCO,
TI - Genetic Programming Applied to Biped Locomotion Control with Sensory Information
SN - 978-989-758-039-0
AU - Ferreira, C.
AU - Silva, P.
AU - André, J.
AU - P. Santos, C.
AU - Costa, L.
PY - 2014
SP - 53
EP - 62
DO - 10.5220/0005062700530062

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