In this paper we study online gait opti- mization for modular robots. The learning strategy we apply is distributed, independent on robot mor- phology, and easy to implement. First we demonstrate how the strategy allows an ATRON robot to adapt to faults and changes in its morphology and we study the strategy’s scalability. Second we extend the strategy to learn the parameters of gait-tables for ATRON and M-TRAN robots.We conclude that the presented strategy is effective for online learning of gaits for most types of modular robots and that learning can effectively be distributed by having independent pro- cesses learning in parallel.
|Journal||I E E E International Conference on Robotics and Automation. Proceedings|
|Publication status||Published - 2010|
|Event||2010 IEEE International Conference on Robotics and Automation - Anchorage, AK, United States|
Duration: 3 May 2010 → 8 May 2010
|Conference||2010 IEEE International Conference on Robotics and Automation|
|Period||03/05/2010 → 08/05/2010|
Christensen, D. J., Schultz, U. P., & Stoy, K. (2010). A Distributed Strategy for Gait Adaptation in Modular Robots. I E E E International Conference on Robotics and Automation. Proceedings, 2765-2770. https://doi.org/10.1109/ROBOT.2010.5509942