The Walking Policies Automatic Generation Using Beam Search

The Walking Policies Automatic Generation Using Beam Search

článek ve sborníku ve WoS nebo Scopus

en

This contribution deals with the problem of automatic generation of different styles of statically stable walking gait of a four-legged robot. The search for appropriate strategies is based on the scanning of state space using an informed search algorithm called A* and an algorithm of beam search. This article compares these two methods and considers the suitability of their use. A tree is used to represent and describe the state space. The tree is generated using a set of elementary production rules chosen in order to obtain an acceptable complexity of the tree and algorithm response. Policies are continuously generated as short-time plans of robot movements. Verification of the discussed algorithms and proposed rules is provided using software simulation.

This contribution deals with the problem of automatic generation of different styles of statically stable walking gait of a four-legged robot. The search for appropriate strategies is based on the scanning of state space using an informed search algorithm called A* and an algorithm of beam search. This article compares these two methods and considers the suitability of their use. A tree is used to represent and describe the state space. The tree is generated using a set of elementary production rules chosen in order to obtain an acceptable complexity of the tree and algorithm response. Policies are continuously generated as short-time plans of robot movements. Verification of the discussed algorithms and proposed rules is provided using software simulation.

This contribution deals with the problem of automatic generation of different styles of statically stable walking gait of a four-legged robot. The search for appropriate strategies is based on the scanning of state space using an informed search algorithm called A* and an algorithm of beam search. This article compares these two methods and considers the suitability of their use. A tree is used to represent and describe the state space. The tree is generated using a set of elementary production rules chosen in order to obtain an acceptable complexity of the tree and algorithm response. Policies are continuously generated as short-time plans of robot movements. Verification of the discussed algorithms and proposed rules is provided using software simulation.

beam search, walking gait, A star, four-legged

2006

31.05.2006

Brno

80-214-3195-4

Mendel 2006

Nezařazené články

1

145–150

6