User:Fredrsae
From Robin
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 planSet 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