• Published 2014

Locomotion Control for Electrically Powered Quadruped Robot Dynarobin

@inproceedings{Koco2014LocomotionCF,
  title={Locomotion Control for Electrically Powered Quadruped Robot Dynarobin},
  author={Edin Koco},
  year={2014}
}
This paper presents the methodology used for finding the optimal set of foot trajectories for a quadruped robot using manual tuning and multiobjective genetic algorithm optimization that provide energy efficient and fast locomotion. Manual trajectory tuning is used to obtain initial set of trajectories for the multiobjective GA optimization. The multiobjective optimization evaluates the energy per distance and average speed criteria on a robot simulation model. Robot locomotion is achieved by… CONTINUE READING

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