Emergence of motion patterns in locomotion robots is studied in this paper. Acquisition of stable periodical gaits can be organized by learning how to reach a goal position. Classifier systems are used for the sensory motor control of individual legs. During the learning process, the classifiers are implicitly coordinated by sharing the total sensor space of the robot. The proposed approach is tested under simulation and experiment on a special four-legged robot. It is show that periodical gaits emerge as a result of interaction between the four classifier systems.
|Journal||Proceedings of the IEEE International Conference on Systems, Man and Cybernetics|
|Publication status||Published - Dec 1 1999|
|Event||1999 IEEE International Conference on Systems, Man, and Cybernetics 'Human Communication and Cybernetics' - Tokyo, Jpn|
Duration: Oct 12 1999 → Oct 15 1999
All Science Journal Classification (ASJC) codes
- Control and Systems Engineering
- Hardware and Architecture