Robot Walking with Genetic Algorithms Bente Reichardt 14. December - PowerPoint PPT Presentation

Introduction Genetic Algorithms Quadruped Robot Hexaped Robot Biped Robot Evaluation Robot Walking with Genetic Algorithms Bente Reichardt 14. December 2015 Bente Reichardt 1/52

Introduction Genetic Algorithms Quadruped Robot Hexaped Robot Biped Robot Evaluation Outline Introduction Genetic algorithms Quadruped Robot Hexapod Robot Biped Robot Evaluation Bente Reichardt 2/52

Introduction Genetic Algorithms Quadruped Robot Hexaped Robot Biped Robot Evaluation Why walking? Mobile robots Similar to humans and animals Can move forward on different surfaces Can climb Bente Reichardt 3/52

Introduction Genetic Algorithms Quadruped Robot Hexaped Robot Biped Robot Evaluation Why walking? Mobile robots Similar to humans and animals Can move forward on different surfaces Can climb Problem: Walking is complex Bente Reichardt 4/52

Introduction Genetic Algorithms Quadruped Robot Hexaped Robot Biped Robot Evaluation Evolutionary Algorithms Biological inspired Survival of the fittest Reproduction and Mutation http://www.deviantart.com/art/Fish- Fishapod-Tetrapod-Tree-186821546 Bente Reichardt 5/52

Introduction Genetic Algorithms Quadruped Robot Hexaped Robot Biped Robot Evaluation Genetic Algorithm Population based Bente Reichardt 6/52

Introduction Genetic Algorithms Quadruped Robot Hexaped Robot Biped Robot Evaluation Genetic Algorithm Population based Solution as chromosomes Bente Reichardt 7/52

Introduction Genetic Algorithms Quadruped Robot Hexaped Robot Biped Robot Evaluation Genetic Algorithm Population based Solution as chromosomes Fitness function Bente Reichardt 8/52

Introduction Genetic Algorithms Quadruped Robot Hexaped Robot Biped Robot Evaluation Genetic Algorithm Population based Solution as chromosomes Fitness function Generating a new generation Bente Reichardt 9/52

Introduction Genetic Algorithms Quadruped Robot Hexaped Robot Biped Robot Evaluation Example: Finding Orange Bente Reichardt 10/52

Introduction Genetic Algorithms Quadruped Robot Hexaped Robot Biped Robot Evaluation Example: Finding Orange Bente Reichardt 11/52

Introduction Genetic Algorithms Quadruped Robot Hexaped Robot Biped Robot Evaluation Example: Finding Orange Bente Reichardt 12/52

Introduction Genetic Algorithms Quadruped Robot Hexaped Robot Biped Robot Evaluation Example: Finding Orange Bente Reichardt 13/52

Introduction Genetic Algorithms Quadruped Robot Hexaped Robot Biped Robot Evaluation Quadruped Robot 4 legs 2 DOF per leg http://www.roboticstoday.com/robots/aibo-ers-7 Bente Reichardt 14/52

Introduction Genetic Algorithms Quadruped Robot Hexaped Robot Biped Robot Evaluation Setup Code for the walking exists Bente Reichardt 15/52

Introduction Genetic Algorithms Quadruped Robot Hexaped Robot Biped Robot Evaluation Setup Code for the walking exists 235 mm/s with human testing Bente Reichardt 16/52

Introduction Genetic Algorithms Quadruped Robot Hexaped Robot Biped Robot Evaluation Setup Code for the walking exists 235 mm/s with human testing 4 Robots to test parallel and autonomous Bente Reichardt 17/52

Introduction Genetic Algorithms Quadruped Robot Hexaped Robot Biped Robot Evaluation Setup Code for the walking exists 235 mm/s with human testing 4 Robots to test parallel and autonomous Some hours to learn Bente Reichardt 18/52

Introduction Genetic Algorithms Quadruped Robot Hexaped Robot Biped Robot Evaluation Genetic Algorithm Population: 30 Chromosomes: Parameters of the walking algorithm Fitness function: Distance moved forward Bente Reichardt 19/52

Introduction Genetic Algorithms Quadruped Robot Hexaped Robot Biped Robot Evaluation Result Distance measurement sometimes failed Bente Reichardt 20/52

Introduction Genetic Algorithms Quadruped Robot Hexaped Robot Biped Robot Evaluation Result Distance measurement sometimes failed Time was enough Bente Reichardt 21/52

Introduction Genetic Algorithms Quadruped Robot Hexaped Robot Biped Robot Evaluation Result Distance measurement sometimes failed Time was enough 290 mm/s with GA optimization Bente Reichardt 22/52

Introduction Genetic Algorithms Quadruped Robot Hexaped Robot Biped Robot Evaluation Result Distance measurement sometimes failed Time was enough 290 mm/s with GA optimization The robot got faster Bente Reichardt 23/52

Introduction Genetic Algorithms Quadruped Robot Hexaped Robot Biped Robot Evaluation Hexapod Robot 6 legs 2 DOF per leg http://robot-kingdom.com/hexapod-robot-tutorials- where-everything-begins/ Bente Reichardt 24/52

Introduction Genetic Algorithms Quadruped Robot Hexaped Robot Biped Robot Evaluation Setup Evolution of a neural network for walking control Bente Reichardt 25/52

Introduction Genetic Algorithms Quadruped Robot Hexaped Robot Biped Robot Evaluation Setup Evolution of a neural network for walking control Separated in two steps Bente Reichardt 26/52

Introduction Genetic Algorithms Quadruped Robot Hexaped Robot Biped Robot Evaluation Setup Evolution of a neural network for walking control Separated in two steps Step one: move a leg Bente Reichardt 27/52

Introduction Genetic Algorithms Quadruped Robot Hexaped Robot Biped Robot Evaluation Setup Evolution of a neural network for walking control Separated in two steps Step one: move a leg Step two: walking with 6 legs Bente Reichardt 28/52

Introduction Genetic Algorithms Quadruped Robot Hexaped Robot Biped Robot Evaluation Genetic Algorithm 1 Chromosomes: Neural Network for one leg Bente Reichardt 29/52

Introduction Genetic Algorithms Quadruped Robot Hexaped Robot Biped Robot Evaluation Genetic Algorithm 1 Chromosomes: Neural Network for one leg Fitness function: Range of the oscillation Bente Reichardt 30/52

Introduction Genetic Algorithms Quadruped Robot Hexaped Robot Biped Robot Evaluation Genetic Algorithm 1 Chromosomes: Neural Network for one leg Fitness function: Range of the oscillation Stops when oscillation reaches the full length Bente Reichardt 31/52

Introduction Genetic Algorithms Quadruped Robot Hexaped Robot Biped Robot Evaluation Genetic Algorithm 2 Population: 10; 2 stay Bente Reichardt 32/52

Introduction Genetic Algorithms Quadruped Robot Hexaped Robot Biped Robot Evaluation Genetic Algorithm 2 Population: 10; 2 stay Chromosomes: Neural network for all legs Bente Reichardt 33/52

Introduction Genetic Algorithms Quadruped Robot Hexaped Robot Biped Robot Evaluation Genetic Algorithm 2 Population: 10; 2 stay Chromosomes: Neural network for all legs Fitness function: distance from starting point in the body axis Bente Reichardt 34/52

Introduction Genetic Algorithms Quadruped Robot Hexaped Robot Biped Robot Evaluation Genetic Algorithm 2 Population: 10; 2 stay Chromosomes: Neural network for all legs Fitness function: distance from starting point in the body axis Crossover rate 0.1 Bente Reichardt 35/52

Introduction Genetic Algorithms Quadruped Robot Hexaped Robot Biped Robot Evaluation Genetic Algorithm 2 Population: 10; 2 stay Chromosomes: Neural network for all legs Fitness function: distance from starting point in the body axis Crossover rate 0.1 Mutation rate: 0.04 Bente Reichardt 36/52

Introduction Genetic Algorithms Quadruped Robot Hexaped Robot Biped Robot Evaluation Result Learned to move their legs Bente Reichardt 37/52

Introduction Genetic Algorithms Quadruped Robot Hexaped Robot Biped Robot Evaluation Result Learned to move their legs Robots walked backwards Bente Reichardt 38/52

Introduction Genetic Algorithms Quadruped Robot Hexaped Robot Biped Robot Evaluation Result Learned to move their legs Robots walked backwards Similar to living insects Bente Reichardt 39/52

Introduction Genetic Algorithms Quadruped Robot Hexaped Robot Biped Robot Evaluation Result Learned to move their legs Robots walked backwards Similar to living insects Wave-gait vs tripod gait Bente Reichardt 40/52

Introduction Genetic Algorithms Quadruped Robot Hexaped Robot Biped Robot Evaluation Biped Robot 2 legs 6 DOF per leg http://www.engadget.com/2006/11/28/kondo-adds- pivot-to-khr-1hv-biped-robot-kit/ Bente Reichardt 41/52

Introduction Genetic Algorithms Quadruped Robot Hexaped Robot Biped Robot Evaluation Experiment Truncated Fourier Series and polynomial equations used for motor control Evaluating GA and PSO Evolutionary Algorithms for Humanoid Walk Pattern Planning Bente Reichardt 42/52

Introduction Genetic Algorithms Quadruped Robot Hexaped Robot Biped Robot Evaluation Experiment Truncated Fourier Series and polynomial equations used for motor control Sinusoid equation the swing leg Evaluating GA and PSO Evolutionary Algorithms for Humanoid Walk Pattern Planning Bente Reichardt 43/52