User:Fredrsae

From Robin

Revision as of 09:53, 17 October 2015

Fredrik Sævland

M.Sc Robotikk og Intelligente Systemer

Fredrik@saevland.com, fredrsae@ifi.uio.no

Thesis: Optimizing and adapting gait pattern of a legged robot

I'm using an EA to evolve and adapt a legged robot (e.g Arachna, Quadratot) to different environments by changing the gait pattern based on what type of terrain it is currently walking on.

More updates will follow.

Progress plan:

• October
  • Essay and progress plan
  • Set up Evorob, Gazebo and possibly other sim-platforms, and figure out which one to use
  • Port INF4490 EA to C++, mainly to get the hang of working with the language
  • Experiment with the robot and figure out the capabilities of the servos

• November
  • Do research on which sensors that can be used
  • Start working on a simplified demo of the platform, such as the ability to read in sensor-data
  • By this month I should have decided upon a simulator to use. Experiment with this platform
  • Do further research on IT&E and The Transferability Approach

• December
  • Finish up a rough demo

• January
  • Start work on implementation, the simulator and robot should be able to work together in some form by now
  • Get the hardware setup ready

• February
  • Start working on thesis
  • Implement code for IT&E

• March
  • Thesis
  • More code ... ?

• April
  • Thesis
  • Start gathering test-results?

• May
  • Finish up the thesis
  • Gather the test-results if not completed yet