Show simple item record

dc.contributor.authorHoward, Ayanna M.en_US
dc.contributor.authorParker, Lonnie T.en_US
dc.date.accessioned2011-03-28T17:47:42Z
dc.date.available2011-03-28T17:47:42Z
dc.date.issued2007-10
dc.identifier.citationA. Howard, L. Parker, “A Hierarchical Strategy for Learning of Robot Walking Strategies in Natural Terrain Environments,” IEEE International Conference on Systems, Man, and Cybernetics, Montreal, Canada, October 2007, 2336-2341.en_US
dc.identifier.isbn978-1-4244-0991-4
dc.identifier.urihttp://hdl.handle.net/1853/38302
dc.description©2007 IEEE. Personal use of this material is permitted. Permission from IEEE must be obtained for all other users, including reprinting/ republishing this material for advertising or promotional purposes, creating new collective works for resale or redistribution to servers or lists, or reuse of any copyrighted components of this work in other works.en_US
dc.descriptionPresented at the 2007 IEEE International Conference on Systems, Man and Cybernetics, October 7-10, 2007, Montréal.en_US
dc.descriptionDOI: 10.1109/ICSMC.2007.4413682en_US
dc.description.abstractIn this paper, we present a hierarchical methodology that learns new walking gaits autonomously while operating in an uncharted environment, such as on the Mars planetary surface or in the remote Antarctica environment. The focus is to maintain persistent forward locomotion along the body axis, while navigating in natural terrain environments. The hierarchical strategy consists of a finite state machine that models the state of leg orientations coupled with a modified evolutionary algorithm to learn necessary leg movement sequences. Locomotion behavior is assessed by monitoring the robot's progress toward a specified goal location. Details of the methodology are discussed, and experimental results with a six-legged robot are presented.en_US
dc.language.isoen_USen_US
dc.publisherGeorgia Institute of Technologyen_US
dc.subjectNatural terrain environment navigationen_US
dc.subjectPersistent forward locomotionen_US
dc.subjectRobot walking learning strategiesen_US
dc.subjectRobot navigationen_US
dc.titleA Hierarchical Strategy for Learning of Robot Walking Strategies in Natural Terrain Environmentsen_US
dc.typeProceedingsen_US
dc.contributor.corporatenameGeorgia Institute of Technology. Human-Automation Systems Laben_US
dc.contributor.corporatenameRochester Institute of Technology. Dept. of Electrical Engineeringen_US
dc.contributor.corporatenameGeorgia Institute of Technology. Center for Robotics and Intelligent Machinesen_US
dc.publisher.originalInstitute of Electrical and Electronics Engineersen_US
dc.identifier.doi10.1109/ICSMC.2007.4413682


Files in this item

Thumbnail

This item appears in the following Collection(s)

Show simple item record