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
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