著者
飯田 賢一
出版者
一般社団法人 日本鉄鋼協会
雑誌
鉄と鋼 (ISSN:00211575)
巻号頁・発行日
vol.66, no.5, pp.573-577, 1980-04-01 (Released:2010-01-18)
参考文献数
17
著者
飯田 賢一 中田 佳孝 平 俊男 鎌野 琢也 鈴木 茂行
出版者
一般社団法人 電気学会
雑誌
電気学会論文誌C(電子・情報・システム部門誌) (ISSN:03854221)
巻号頁・発行日
vol.123, no.10, pp.1806-1812, 2003 (Released:2004-05-28)
参考文献数
16
被引用文献数
1

In this paper, an application of genetic algorithm for generation of evolutionary initial poses of a quadrupedal robot which reduced degrees of freedom is described. To reduce degree of freedom, each leg of the robot has a slider-crank mechanism and is driven by an actuator. Furthermore we introduced the forward movement mode and the rotating mode because the omnidirection movement should be made possible. To generate the suitable initial pose, the initial angle of four legs are coded under gray code and tuned by an estimation function in each mode with the genetic algorithm. As a result of generation, the cooperation of the legs is realized to move toward the omnidirection. The experimental results demonstrate that the proposed scheme is effective for generation of the suitable initial poses and the robot can walk smoothly with the generated patterns.