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Optimizing Fourier Series Based Gaits for Modular Robots Using an Evolutionary Algorithm

[+] Author Affiliations
David Ko, Harry H. Cheng

University of California, Davis, CA

Paper No. DETC2013-13653, pp. V004T08A033; 7 pages
doi:10.1115/DETC2013-13653
From:
  • ASME 2013 International Design Engineering Technical Conferences and Computers and Information in Engineering Conference
  • Volume 4: 18th Design for Manufacturing and the Life Cycle Conference; 2013 ASME/IEEE International Conference on Mechatronic and Embedded Systems and Applications
  • Portland, Oregon, USA, August 4–7, 2013
  • Conference Sponsors: Design Engineering Division, Computers and Information in Engineering Division
  • ISBN: 978-0-7918-5591-1
  • Copyright © 2013 by ASME

abstract

A new method of controlling and optimizing robotic gaits for a modular robotic system is presented in this paper. A robotic gait is implemented on a robotic system consisting of three Mobot modules for a total of twelve degrees of freedom using a Fourier series representation for the periodic motion of each joint. The gait implementation allows robotic modules to perform synchronized gaits with little or no communication with each other making it scalable to increasing numbers of modules. The coefficients of the Fourier series are optimized by a genetic algorithm to find gaits which move the robot cluster quickly and efficiently across flat terrain. Simulated and experimental results show that the optimized gaits can have over twice as much speed as randomly generated gaits.

Copyright © 2013 by ASME

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