Automatic Gait Optimisation for Quadruped Robots
作者： Min Sub Kim , William Uther
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摘要: As part of the winning team in Sony legged robot league RoboCup 2003 international robotic soccer competition, we used automatic gait optimisation. This was first such technique seen competition and allowed an improvement both speed stability over previous gaits. Additionally, fast enough to run on-site at optimising walk for particular surface used. paper describes optimisation as well some surprising features final discovered by algorithm.
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