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Introduction Genetic Algorithms Quadruped Robot Hexaped Robot Biped Robot Evaluation
Robot Walking with Genetic Algorithms
Bente Reichardt
14. December 2015
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Introduction Genetic Algorithms Quadruped Robot Hexaped Robot Biped Robot Evaluation
Outline
Introduction
Genetic algorithms
Quadruped Robot
Hexapod Robot
Biped Robot
Evaluation
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Introduction Genetic Algorithms Quadruped Robot Hexaped Robot Biped Robot Evaluation
Why walking?
Mobile robots
Similar to humans and animals
Can move forward on different surfaces
Can climb
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Introduction Genetic Algorithms Quadruped Robot Hexaped Robot Biped Robot Evaluation
Why walking?
Mobile robots
Similar to humans and animals
Can move forward on different surfaces
Can climb
Problem: Walking is complex
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Introduction Genetic Algorithms Quadruped Robot Hexaped Robot Biped Robot Evaluation
Evolutionary Algorithms
http://www.deviantart.com/art/Fish-Fishapod-Tetrapod-Tree-186821546
Biological inspired
Survival of the fittest
Reproduction and Mutation
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Introduction Genetic Algorithms Quadruped Robot Hexaped Robot Biped Robot Evaluation
Genetic Algorithm
Population based
Solution as chromosomes
Fitness function
Generating a new generation
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Introduction Genetic Algorithms Quadruped Robot Hexaped Robot Biped Robot Evaluation
Genetic Algorithm
Population based
Solution as chromosomes
Fitness function
Generating a new generation
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Introduction Genetic Algorithms Quadruped Robot Hexaped Robot Biped Robot Evaluation
Genetic Algorithm
Population based
Solution as chromosomes
Fitness function
Generating a new generation
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Introduction Genetic Algorithms Quadruped Robot Hexaped Robot Biped Robot Evaluation
Genetic Algorithm
Population based
Solution as chromosomes
Fitness function
Generating a new generation
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Introduction Genetic Algorithms Quadruped Robot Hexaped Robot Biped Robot Evaluation
Example: Finding Orange
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Introduction Genetic Algorithms Quadruped Robot Hexaped Robot Biped Robot Evaluation
Example: Finding Orange
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Introduction Genetic Algorithms Quadruped Robot Hexaped Robot Biped Robot Evaluation
Example: Finding Orange
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Introduction Genetic Algorithms Quadruped Robot Hexaped Robot Biped Robot Evaluation
Example: Finding Orange
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Introduction Genetic Algorithms Quadruped Robot Hexaped Robot Biped Robot Evaluation
Quadruped Robot
http://www.roboticstoday.com/robots/aibo-ers-7
4 legs
2 DOF per leg
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Introduction Genetic Algorithms Quadruped Robot Hexaped Robot Biped Robot Evaluation
Setup
Code for the walking exists
235 mm/s with human testing
4 Robots to test parallel and autonomous
Some hours to learn
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Introduction Genetic Algorithms Quadruped Robot Hexaped Robot Biped Robot Evaluation
Setup
Code for the walking exists
235 mm/s with human testing
4 Robots to test parallel and autonomous
Some hours to learn
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Introduction Genetic Algorithms Quadruped Robot Hexaped Robot Biped Robot Evaluation
Setup
Code for the walking exists
235 mm/s with human testing
4 Robots to test parallel and autonomous
Some hours to learn
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Introduction Genetic Algorithms Quadruped Robot Hexaped Robot Biped Robot Evaluation
Setup
Code for the walking exists
235 mm/s with human testing
4 Robots to test parallel and autonomous
Some hours to learn
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Introduction Genetic Algorithms Quadruped Robot Hexaped Robot Biped Robot Evaluation
Genetic Algorithm
Population: 30
Chromosomes: Parameters of the walking algorithm
Fitness function: Distance moved forward
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Introduction Genetic Algorithms Quadruped Robot Hexaped Robot Biped Robot Evaluation
Result
Distance measurement sometimes failed
Time was enough
290 mm/s with GA optimization
The robot got faster
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Introduction Genetic Algorithms Quadruped Robot Hexaped Robot Biped Robot Evaluation
Result
Distance measurement sometimes failed
Time was enough
290 mm/s with GA optimization
The robot got faster
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Introduction Genetic Algorithms Quadruped Robot Hexaped Robot Biped Robot Evaluation
Result
Distance measurement sometimes failed
Time was enough
290 mm/s with GA optimization
The robot got faster
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Introduction Genetic Algorithms Quadruped Robot Hexaped Robot Biped Robot Evaluation
Result
Distance measurement sometimes failed
Time was enough
290 mm/s with GA optimization
The robot got faster
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Introduction Genetic Algorithms Quadruped Robot Hexaped Robot Biped Robot Evaluation
Hexapod Robot
http://robot-kingdom.com/hexapod-robot-tutorials-where-everything-begins/
6 legs
2 DOF per leg
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Introduction Genetic Algorithms Quadruped Robot Hexaped Robot Biped Robot Evaluation
Setup
Evolution of a neural network for walking control
Separated in two steps
Step one: move a leg
Step two: walking with 6 legs
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Introduction Genetic Algorithms Quadruped Robot Hexaped Robot Biped Robot Evaluation
Setup
Evolution of a neural network for walking control
Separated in two steps
Step one: move a leg
Step two: walking with 6 legs
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Introduction Genetic Algorithms Quadruped Robot Hexaped Robot Biped Robot Evaluation
Setup
Evolution of a neural network for walking control
Separated in two steps
Step one: move a leg
Step two: walking with 6 legs
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Introduction Genetic Algorithms Quadruped Robot Hexaped Robot Biped Robot Evaluation
Setup
Evolution of a neural network for walking control
Separated in two steps
Step one: move a leg
Step two: walking with 6 legs
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Introduction Genetic Algorithms Quadruped Robot Hexaped Robot Biped Robot Evaluation
Genetic Algorithm 1
Chromosomes: Neural Network for one leg
Fitness function: Range of the oscillation
Stops when oscillation reaches the full length
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Introduction Genetic Algorithms Quadruped Robot Hexaped Robot Biped Robot Evaluation
Genetic Algorithm 1
Chromosomes: Neural Network for one leg
Fitness function: Range of the oscillation
Stops when oscillation reaches the full length
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Introduction Genetic Algorithms Quadruped Robot Hexaped Robot Biped Robot Evaluation
Genetic Algorithm 1
Chromosomes: Neural Network for one leg
Fitness function: Range of the oscillation
Stops when oscillation reaches the full length
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Introduction Genetic Algorithms Quadruped Robot Hexaped Robot Biped Robot Evaluation
Genetic Algorithm 2
Population: 10; 2 stay
Chromosomes: Neural network for all legs
Fitness function: distance from starting point in the body axis
Crossover rate 0.1
Mutation rate: 0.04
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Introduction Genetic Algorithms Quadruped Robot Hexaped Robot Biped Robot Evaluation
Genetic Algorithm 2
Population: 10; 2 stay
Chromosomes: Neural network for all legs
Fitness function: distance from starting point in the body axis
Crossover rate 0.1
Mutation rate: 0.04
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Introduction Genetic Algorithms Quadruped Robot Hexaped Robot Biped Robot Evaluation
Genetic Algorithm 2
Population: 10; 2 stay
Chromosomes: Neural network for all legs
Fitness function: distance from starting point in the body axis
Crossover rate 0.1
Mutation rate: 0.04
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Introduction Genetic Algorithms Quadruped Robot Hexaped Robot Biped Robot Evaluation
Genetic Algorithm 2
Population: 10; 2 stay
Chromosomes: Neural network for all legs
Fitness function: distance from starting point in the body axis
Crossover rate 0.1
Mutation rate: 0.04
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Introduction Genetic Algorithms Quadruped Robot Hexaped Robot Biped Robot Evaluation
Genetic Algorithm 2
Population: 10; 2 stay
Chromosomes: Neural network for all legs
Fitness function: distance from starting point in the body axis
Crossover rate 0.1
Mutation rate: 0.04
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Introduction Genetic Algorithms Quadruped Robot Hexaped Robot Biped Robot Evaluation
Result
Learned to move their legs
Robots walked backwards
Similar to living insects
Wave-gait vs tripod gait
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Introduction Genetic Algorithms Quadruped Robot Hexaped Robot Biped Robot Evaluation
Result
Learned to move their legs
Robots walked backwards
Similar to living insects
Wave-gait vs tripod gait
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Introduction Genetic Algorithms Quadruped Robot Hexaped Robot Biped Robot Evaluation
Result
Learned to move their legs
Robots walked backwards
Similar to living insects
Wave-gait vs tripod gait
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Introduction Genetic Algorithms Quadruped Robot Hexaped Robot Biped Robot Evaluation
Result
Learned to move their legs
Robots walked backwards
Similar to living insects
Wave-gait vs tripod gait
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Introduction Genetic Algorithms Quadruped Robot Hexaped Robot Biped Robot Evaluation
Biped Robot
http://www.engadget.com/2006/11/28/kondo-adds-pivot-to-khr-1hv-biped-robot-kit/
2 legs
6 DOF per leg
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Introduction Genetic Algorithms Quadruped Robot Hexaped Robot Biped Robot Evaluation
Experiment
Truncated Fourier Seriesand polynomial equationsused for motor control
Sinusoid equation the swingleg
partly polynomial equationsfor the support leg
Learning of the equationsfor every motor
Evaluating GA and PSO Evolutionary Algorithms forHumanoid Walk Pattern Planning
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Introduction Genetic Algorithms Quadruped Robot Hexaped Robot Biped Robot Evaluation
Experiment
Truncated Fourier Seriesand polynomial equationsused for motor control
Sinusoid equation the swingleg
partly polynomial equationsfor the support leg
Learning of the equationsfor every motor
Evaluating GA and PSO Evolutionary Algorithms forHumanoid Walk Pattern Planning
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Introduction Genetic Algorithms Quadruped Robot Hexaped Robot Biped Robot Evaluation
Experiment
Truncated Fourier Seriesand polynomial equationsused for motor control
Sinusoid equation the swingleg
partly polynomial equationsfor the support leg
Learning of the equationsfor every motor
Evaluating GA and PSO Evolutionary Algorithms forHumanoid Walk Pattern Planning
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Introduction Genetic Algorithms Quadruped Robot Hexaped Robot Biped Robot Evaluation
Experiment
Truncated Fourier Seriesand polynomial equationsused for motor control
Sinusoid equation the swingleg
partly polynomial equationsfor the support leg
Learning of the equationsfor every motor
Evaluating GA and PSO Evolutionary Algorithms forHumanoid Walk Pattern Planning
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Introduction Genetic Algorithms Quadruped Robot Hexaped Robot Biped Robot Evaluation
Genetic Algorithm
Population: 20
Chromosomes: Coefficients of the equations
Fitness function: Walking without falling
Evaluating GA and PSO Evolutionary Algorithms for Humanoid Walk Pattern Planning
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Introduction Genetic Algorithms Quadruped Robot Hexaped Robot Biped Robot Evaluation
Result
Coefficients are learned
Each motor has specificequation
robots learned to walkEvaluating GA and PSO Evolutionary Algorithms for
Humanoid Walk Pattern Planning
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Introduction Genetic Algorithms Quadruped Robot Hexaped Robot Biped Robot Evaluation
Evaluation
Optimization algorithm
Finds a good solution
PSO (particle swarm optimization) usually faster
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Introduction Genetic Algorithms Quadruped Robot Hexaped Robot Biped Robot Evaluation
Evaluation
Optimization algorithm
Finds a good solution
PSO (particle swarm optimization) usually faster
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Introduction Genetic Algorithms Quadruped Robot Hexaped Robot Biped Robot Evaluation
Evaluation
Optimization algorithm
Finds a good solution
PSO (particle swarm optimization) usually faster
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Introduction Genetic Algorithms Quadruped Robot Hexaped Robot Biped Robot Evaluation
Thank you for your attention!
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Introduction Genetic Algorithms Quadruped Robot Hexaped Robot Biped Robot Evaluation
References
Chernova, Sonia, and Manuela Veloso. ”An evolutionary approachto gait learning for four-legged robots.” Intelligent Robots andSystems, 2004.(IROS 2004). Proceedings. 2004 IEEE/RSJInternational Conference on. Vol. 3. IEEE, 2004.
Lewis, M. Anthony, Andrew H. Fagg, and Alan Solidum. ”Geneticprogramming approach to the construction of a neural network forcontrol of a walking robot.” Robotics and Automation, 1992.Proceedings., 1992 IEEE International Conference on. IEEE, 1992.
Azarkaman, Mostafa, Mohammad Aghaabbasloo, and Mostafa E.Salehi. ”Evaluating GA and PSO evolutionary algorithms forhumanoid walk pattern planning.” Electrical Engineering (ICEE),2014 22nd Iranian Conference on. IEEE, 2014.
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