DEVELOPMENT OF A GENETIC ALGORITHM FOR THE OPTIMIZATION OF HEXAPOD ROBOT PARAMETERS

摘要

Legged robots allow the locomotion on terrains inaccessiblernto other type of vehicles because they do not need arncontinuous support surface. Different strategies have beenrnadopted for the optimization of these systems, during theirrndesign and construction phases, and during their operation.rnAmong the different optimization criteria followed by differentrnauthors, it is possible to find issues related to energyrnefficiency, stability, speed, comfort, mobility and environmentalrnimpact. Evolutionary strategies are a way to ”imitaternnature” replicating the process that nature designed forrnthe generation and evolution of species. The objective ofrnthis paper is to present a genetic algorithm, running over arnsimulation application of legged robots, which allows thernoptimization of several parameters of the robot model andrnof its gaits, for different locomotion speeds.