Quadrupedal Robots’ Gaits Identification via Contact Forces Optimization

Quadrupedal Robots’ Gaits Identification via Contact Forces Optimization

The purpose of the present paper is the identification of optimal trajectories of quadruped robots through genetic algorithms. The method is based on the identification of the optimal time history of forces and torques exchanged between the ground and the body, without any constraints on leg kinemat...

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Bibliographic Details
Main Authors: Gianluca Pepe, Maicol Laurenza, Nicola Pio Belfiore, Antonio Carcaterra
Format: Article
Language:English
Published: MDPI AG 2021-02-01
Series:Applied Sciences
Subjects:
gait optimization
quadruped robot
genetic algorithm
quadrupedal locomotion
evolutionary programming
optimal contact forces
Online Access:https://www.mdpi.com/2076-3417/11/5/2102

Internet

https://www.mdpi.com/2076-3417/11/5/2102

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