Motion generation of multi-legged robot in complex terrains by using estimation of distribution algorithm

摘要

Motion generation is one of the most important and challenging problems in multi-legged robot research. Most of the existing methods show a good fulfillment of the requirements of robots in structured environments. However, it still faces many challenges to generate motions effectively and quickly for multi-legged robot works in complex environments. In this paper, we put forward a method which converts the motion generation problem into a Multi-objective Optimization Problem (MOP), which will make the robot not only run as fast as possible, but also save energy, and then use a distribution estimation algorithm, the trend prediction model method, to obtain motions for a six-legged robot. Experiments show that this method is effective.