TY - GEN
T1 - A STUDY ON HEXAPOD GAIT ADAPTATION BY ENUMERATIVE ENCODING AND PARTICLE SWARM OPTIMIZATION
AU - Parque, Victor
N1 - Funding Information:
This research was supported by JSPS KAKENHI Grant Number 20K11998.
Publisher Copyright:
Copyright © 2022 by ASME.
PY - 2022
Y1 - 2022
N2 - 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.
AB - 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.
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U2 - 10.1115/DETC2022-90305
DO - 10.1115/DETC2022-90305
M3 - Conference contribution
AN - SCOPUS:85142543767
T3 - Proceedings of the ASME Design Engineering Technical Conference
BT - 42nd Computers and Information in Engineering Conference (CIE)
PB - American Society of Mechanical Engineers (ASME)
T2 - ASME 2022 International Design Engineering Technical Conferences and Computers and Information in Engineering Conference, IDETC-CIE 2022
Y2 - 14 August 2022 through 17 August 2022
ER -