Please use this identifier to cite or link to this item: http://scholarbank.nus.edu.sg/handle/10635/75359
Title: QUADRUPEDAL WALKING GAIT GENERATION USING GENETIC ALGORITHM.
Authors: YONG SEE WEI
Keywords: Quadruped,physics engine,Genetic Algorithm,gait,locomotion,simulation
Issue Date: 23-Jan-2014
Citation: YONG SEE WEI (2014-01-23). QUADRUPEDAL WALKING GAIT GENERATION USING GENETIC ALGORITHM.. ScholarBank@NUS Repository.
Abstract: Quadrupedal locomotion is a heavily researched topic for the need of generating stable gaits for high speed locomotion on tough terrains. The challenge in quadrupedal locomotion is in generating locomotion gaits while maintaining stability. In this thesis, quadrupedal locomotion gait generation is carried out in a virtual world obeying the laws of physics. Genetic algorithm (GA) is used to evolve the quadrupedal gaits. The evolution of the quadrupedal configuration is carried out in stages. The frontal single limb getting up gait is generated and optimized utilizing GA. The concept is then extended to double limbs. The gaits are generated finally for a quadrupedal system. The dynamics of the configuration is taken care of by the Chrono Engine and no mathematical modelling is carried out.
URI: http://scholarbank.nus.edu.sg/handle/10635/75359
Appears in Collections:Ph.D Theses (Open)

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