Generation of Suitable Jumping Motion Pattern for Hopping Robot under Genetic Algorithm

摘要

In this paper, an application of genetic algorithm for generation of jumping motion pattern of a hopping robot is described. The parameters of a central pattern generator are regarded as genes and tuned by the genetic algorithm so that the robot car, jump to the reference height continuously with the minimum drive current. To realize online tuning of the parameters, new genetic operations such as a few individuals, rapid estimation, instant selection and intentional mutation are introduced. Experimental and simulation results demonstrate that the proposed scheme is effective to generate the suitable jumping motion pattern of the hopping robot.