Bruker:Fredrsae

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Revisjon per 24. nov 2015 kl. 04:17 av Fredrsae (Diskusjon | bidrag)
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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
    • SPort 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
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