Download Embedded Robotics - Thomas Braunl

Evolved Gaits
lifting its forelimbs. The robot then gallops with its forelimbs to produce a
dynamic gait. This illustrates that the system is capable of generating walking
patterns for legged robots, regardless of the morphology and number of legs.
Figure 23.5: Tripod gait
The spline controller also evolves complex dynamic movements. Removing
the termination conditions allows for less stable and robust gaits to be evolved.
Figure 23.6 shows a jumping gait evolved for an android robot. The resultant
control system depicted was evolved within 60 generations and began convergence toward a unified solution within 30 generations. However, the gait was
very unstable, and the android could only repeat the jump three times before it
would fall over.
Figure 23.6: Biped jumping
The spline controller utilized to create the gait depicted in Figure 23.4 was
extended to include sensory information from an inclinometer located in the
robot’s torso. The inclinometer reading was successfully interpreted by the
control system to provide an added level of feedback capable of sustaining the
generated gait over non-uniform terrain. An example of the resultant gait is
Figure 23.7: Biped walking over uneven terrain
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