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On the application of CMA-ES to biped walk

Autor
Suarez, A.; Miralles, C.; Medina, S.
Tipus d'activitat
Document cientificotècnic
Data
2017
Codi
IRI-TR-17-03
Repositori
http://hdl.handle.net/2117/108241 Obrir en finestra nova
Resum
This project studies the applicability of Covariance Matrix Adaptation Evolution Strategies to enable a biped robot to walk with no previous knowledge. While most work on the subject is based on Genetic Algorithms, we believe that CMA-ES shows indeed great potential. Our work focuses on the Darwin robot, although it can be easily extrapolated to other humanoids. The evaluation of the solutions' goodness is performed via simulation to keep the real robot away from potential harm.
Citació
Suarez, A., Miralles, C., Medina, S. "On the application of CMA-ES to biped walk". 2017.
Paraules clau
Artificial Life, Humanoid Robots, Learning (artificial Intelligence). Biped Walking, Evolutionary Algorithms, Genetic Algorithms, Evolution Strategies

Participants

  • Suarez Hernandez, Alejandro  (autor)
  • Miralles, Carles  (autor)
  • Medina, Salvador  (autor)