A STUDY ON HEXAPOD GAIT ADAPTATION BY ENUMERATIVE ENCODING AND PARTICLE SWARM OPTIMIZATION

Victor Parque*

*Corresponding author for this work

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

Abstract

Adapting to actuator failures is relevant robotic systems to continuously perform tasks such as exploration and mapping of unknown environments. This paper studies the adaptation ability to faulty hexapod legs by using an enumerative encoding scheme of the gaits locomotion strategy. The computational studies using the feasible set of leg failures through a physics-enabled simulation environment show (1) the feasibility of using the factoradic representation to explore feasible hexapod gait recoveries, and (2) the effectiveness of using an exploitative particle swarm-based heuristic to find feasible recovery strategies with minimal deviation to pre-defined locomotion commands under a small number of objective function evaluations. The results has the potential to further explore the enumerative encoding scheme and population-based optimization heuristics to render feasible hexapod gaits when actuators become malfunction on the field.

Original languageEnglish
Title of host publication42nd Computers and Information in Engineering Conference (CIE)
PublisherAmerican Society of Mechanical Engineers (ASME)
ISBN (Electronic)9780791886212
DOIs
Publication statusPublished - 2022
EventASME 2022 International Design Engineering Technical Conferences and Computers and Information in Engineering Conference, IDETC-CIE 2022 - St. Louis, United States
Duration: 2022 Aug 142022 Aug 17

Publication series

NameProceedings of the ASME Design Engineering Technical Conference
Volume2

Conference

ConferenceASME 2022 International Design Engineering Technical Conferences and Computers and Information in Engineering Conference, IDETC-CIE 2022
Country/TerritoryUnited States
CitySt. Louis
Period22/8/1422/8/17

ASJC Scopus subject areas

  • Mechanical Engineering
  • Computer Graphics and Computer-Aided Design
  • Computer Science Applications
  • Modelling and Simulation

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