From Robin

Revision as of 00:22, 30 January 2016

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 through December
  • Essay and progress plan
  • Set up Evorob, Gazebo and possibly other sim-platforms, and figure out which one to use
  • 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

• January
  • Have GA implemented and most of IT&E ready

• February
  • Write some of the implementation-part of the thesis
  • Start gathering the test-results
  • Finish the implementation-part

• March
  • Write about the experiments

• April
  • Finish up the thesis

Implementation

The implementation of this master thesis is done in C++ using a set of frameworks called Robdyn and Sferes2.

Robdyn

Robdyn is a simple C++ wrapper around ODE <ref>OpenDynamicsEngine</ref> and OSG <ref>OpenSceneGraph</ref> which makes a nice basis for simulating robots without having to dwelve into the more complex parts of these libraries. Robdyn works by simply defining your own robot similar to hexapod.cc, and then testing it out in a demo. By then compiling the code using the bundled waf build-system it will create a two library-files, librobdyn.a and librobdyn_osgvisitor.a, which can then be linked into any other code.

Screenshot of Robdyn 'walking' demo

Sferes2