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Optimizing Morphology and Locomotion on a Corpus of Parametric Legged Robots

Research output: Chapter in Book/Report/Conference proceedingConference contribution

Original languageEnglish
Title of host publication5th International Conference on Biomimetic and Biohybrid Systems
Place of PublicationEdinburgh, Scotland
PublisherSpringer, Cham
Pages227-238
Number of pages12
ISBN (Electronic)978-3-319-42417-0
ISBN (Print)978-3-319-42416-3
DOIs
Publication statusPublished - 2016
Event5th International Conference on Biomimetic and Biohybrid Systems - Edinburgh, United Kingdom
Duration: 19 Jul 201622 Jul 2016
http://csnetwork.eu/livingmachines/conf2016

Conference

Conference5th International Conference on Biomimetic and Biohybrid Systems
Abbreviated titleLiving Machines 2016
CountryUnited Kingdom
CityEdinburgh
Period19/07/1622/07/16
Internet address

Abstract

In this paper, we describe an optimization approach to the legged locomotion problem. We designed a software environment to manipulate parametrized robot models. This environment is a platform developed for future experiments and for educational robotics purpose. It allows to generate dynamic models and simulate them using a physics engine. Experiments can then be made with both morphological and controller optimization. Here we describe the environment, propose a simple open loop generic controller for legged robots and discuss experiments that were made on a robot corpus using a black-box optimization.

Event

5th International Conference on Biomimetic and Biohybrid Systems

19/07/1622/07/16

Edinburgh, United Kingdom

Event: Conference

ID: 70939029