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 planSet up Evorob, Gazebo and possibly other sim-platforms, and figure out which one to useSPort INF4490 EA to C++, mainly to get the hang of working with the languageExperiment 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