| Gait optimization through search |
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| Prabir K. Pal and Dayal
C. Kar Division of Remote Handling and Robotics, Bhabha Atomic Research
Centre, Mumbai 400085, India |
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| We present a search-based method
for the generation of a terrainadaptive optimal gait of a six-legged walking
machine. In this, several heuristic rules have been proposed to reduce the
search effort. We identify the useful support states of the machine and
form a table to indicate for each of these states the list of other states
to which a transition can be made. This helps in converging to and maintaining
a periodic gait through a limited search while retaining adequate options
to deviate from such a gait as and when needed. The criterion for optimization
is coded into a function that evaluates the promise of a node in the search
graph. We have shown how this function may be designed to generate the common
periodic gaits like the wave gait, the equal phase gait, and the follow-the-leader
gait. The purpose is to demonstrate that the proposed method is sufficiently
general and can cater to a wide range of optimizing requirements. |
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