GA-based motion generation for quadruped robot which has soft spine structure

摘要

By embedding soft spine structure into the robot body, robot can increase its ability to absorb shock and to work in various environment such as irregular ground. On the other hand, however, a robot with soft structure has the problem of behavior estimation and motion generation. We propose solving behavior estimation problem by using finite element method software and mechanical analysis software, and motion generation by using genetic algorithm. This paper describes the integration of these software and its application to the robot motion generation.