User:Fredrsae

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Revision as of 12:10, 21 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, and work on implementation
  • Start work on implementation, the simulator and robot should be able to work together in some form by now
  • Get the hardware setup ready

• December
  • Finish up a rough demo

• January
  • Write some of the implementation-part of the thesis

• February
  • Start gathering the test-results
  • Finish the implementation-part

• March
  • Write about the experiments

• April
  • Finish up the thesis