Optimization of grid wall walking by genetic algorithm

Yuya Yanagihara*, Tomohito Takubo, Kenichi Ohara, Yasushi Mae, Tatsuo Arai

*Corresponding author for this work

Research output: Chapter in Book/Report/Conference proceedingConference contributionpeer-review

2 Citations (Scopus)

Abstract

Grid wall walking promises attractive 3-D mobility for multi-legged robots. The robot hangs the grids by its multi-legs so that the stable positioning is achieved. The grid environments are implemented by assembling iron wires in a matrix. The artificial environment can be good for the robots by considering robot's ability. The grid wall will be attached on various wall and ceiling. The robot has to hang them in highly stable posture since it must not fall down. Multi-legged robots have various hanging styles and it is difficult to find the available and optimal posture. The nonlinear search problem of the optimal posture can be solved by GA(Genetic Algorithm). The optimal hanging postures are found out on all of inclined grid wall, and these postures can be switched from each other to walk the complicated wall terrain. This paper shows the method of optimization for grid wall walking and the results show the feasibility of our proposed 3-D environmental mobility.

Original languageEnglish
Title of host publication2009 IEEE International Conference on Mechatronics and Automation, ICMA 2009
Pages2665-2670
Number of pages6
DOIs
Publication statusPublished - 2009
Externally publishedYes
Event2009 IEEE International Conference on Mechatronics and Automation, ICMA 2009 - Changchun, China
Duration: 9 Aug 200912 Aug 2009

Publication series

Name2009 IEEE International Conference on Mechatronics and Automation, ICMA 2009

Conference

Conference2009 IEEE International Conference on Mechatronics and Automation, ICMA 2009
Country/TerritoryChina
CityChangchun
Period9/08/0912/08/09

Keywords

  • GA
  • Grid-like structure
  • Hexapod robot
  • Omnidirectional gait

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Yanagihara, Y., Takubo, T., Ohara, K., Mae, Y., & Arai, T. (2009). Optimization of grid wall walking by genetic algorithm. In 2009 IEEE International Conference on Mechatronics and Automation, ICMA 2009 (pp. 2665-2670). Article 5244953 (2009 IEEE International Conference on Mechatronics and Automation, ICMA 2009). https://doi.org/10.1109/ICMA.2009.5244953