Optimizing Robotic Cheetah Leg Parameters Using Evolutionary Algorithms

Maxim Buzdalov; Sergey Kolyubin; Artem Egorov; Ivan Borisov

doi:10.1007/978-3-030-63710-1_17

Optimizing Robotic Cheetah Leg Parameters Using Evolutionary Algorithms

Maxim Buzdalov, Sergey Kolyubin, Artem Egorov, Ivan Borisov

ITMO University

Research output: Chapter in Book/Report/Conference proceeding › Conference Proceeding (Non-Journal item)

Abstract

We present a new application suitable for evolutionary algorithms: geometry optimization for robotic applications. Our working example is a robotic cheetah leg, which uses simple control algorithms, but accurately crafted and tuned mechanics to maximize motion efficiency. In this paper we aim at tuning its parameters, such that the joints of the leg follow the desired trajectories as close as possible. Optimization is done in two stages involving just two parameters each.

Even this simply-looking problem presents a challenge to evolutionary algorithms, as it is both ill-conditioned and multimodal. However, we show that choosing a better fitness function that captures our desires in a different way can make the problem much easier.

Original language	English
Title of host publication	Bioinspired Optimization Methods and Their Applications - 9th International Conference, BIOMA 2020, Proceedings
Subtitle of host publication	9th International Conference, BIOMA 2020, Brussels, Belgium, November 19–20, 2020, Proceedings
Editors	Bogdan Filipic, Edmondo Minisci, Massimiliano Vasile
Publisher	Springer Nature
Pages	214-227
Number of pages	14
ISBN (Electronic)	978-3-030-63710-1, 3030637107
ISBN (Print)	9783030637095, 3030637093
DOIs	https://doi.org/10.1007/978-3-030-63710-1_17
Publication status	Published - 16 Nov 2020
Externally published	Yes

Publication series

Name	Lecture Notes in Computer Science (including subseries Lecture Notes in Artificial Intelligence and Lecture Notes in Bioinformatics)
Volume	12438 LNCS
ISSN (Print)	0302-9743
ISSN (Electronic)	1611-3349

Keywords

Fitness function
Multimodal functions
Robotic leg

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10.1007/978-3-030-63710-1_17

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Buzdalov, M., Kolyubin, S., Egorov, A., & Borisov, I. (2020). Optimizing Robotic Cheetah Leg Parameters Using Evolutionary Algorithms. In B. Filipic, E. Minisci, & M. Vasile (Eds.), Bioinspired Optimization Methods and Their Applications - 9th International Conference, BIOMA 2020, Proceedings: 9th International Conference, BIOMA 2020, Brussels, Belgium, November 19–20, 2020, Proceedings (pp. 214-227). (Lecture Notes in Computer Science (including subseries Lecture Notes in Artificial Intelligence and Lecture Notes in Bioinformatics); Vol. 12438 LNCS). Springer Nature. https://doi.org/10.1007/978-3-030-63710-1_17

Buzdalov, Maxim ; Kolyubin, Sergey ; Egorov, Artem et al. / Optimizing Robotic Cheetah Leg Parameters Using Evolutionary Algorithms. Bioinspired Optimization Methods and Their Applications - 9th International Conference, BIOMA 2020, Proceedings: 9th International Conference, BIOMA 2020, Brussels, Belgium, November 19–20, 2020, Proceedings. editor / Bogdan Filipic ; Edmondo Minisci ; Massimiliano Vasile. Springer Nature, 2020. pp. 214-227 (Lecture Notes in Computer Science (including subseries Lecture Notes in Artificial Intelligence and Lecture Notes in Bioinformatics)).

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abstract = "We present a new application suitable for evolutionary algorithms: geometry optimization for robotic applications. Our working example is a robotic cheetah leg, which uses simple control algorithms, but accurately crafted and tuned mechanics to maximize motion efficiency. In this paper we aim at tuning its parameters, such that the joints of the leg follow the desired trajectories as close as possible. Optimization is done in two stages involving just two parameters each.Even this simply-looking problem presents a challenge to evolutionary algorithms, as it is both ill-conditioned and multimodal. However, we show that choosing a better fitness function that captures our desires in a different way can make the problem much easier.",

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Buzdalov, M, Kolyubin, S, Egorov, A & Borisov, I 2020, Optimizing Robotic Cheetah Leg Parameters Using Evolutionary Algorithms. in B Filipic, E Minisci & M Vasile (eds), Bioinspired Optimization Methods and Their Applications - 9th International Conference, BIOMA 2020, Proceedings: 9th International Conference, BIOMA 2020, Brussels, Belgium, November 19–20, 2020, Proceedings. Lecture Notes in Computer Science (including subseries Lecture Notes in Artificial Intelligence and Lecture Notes in Bioinformatics), vol. 12438 LNCS, Springer Nature, pp. 214-227. https://doi.org/10.1007/978-3-030-63710-1_17

Optimizing Robotic Cheetah Leg Parameters Using Evolutionary Algorithms. / Buzdalov, Maxim; Kolyubin, Sergey; Egorov, Artem et al.
Bioinspired Optimization Methods and Their Applications - 9th International Conference, BIOMA 2020, Proceedings: 9th International Conference, BIOMA 2020, Brussels, Belgium, November 19–20, 2020, Proceedings. ed. / Bogdan Filipic; Edmondo Minisci; Massimiliano Vasile. Springer Nature, 2020. p. 214-227 (Lecture Notes in Computer Science (including subseries Lecture Notes in Artificial Intelligence and Lecture Notes in Bioinformatics); Vol. 12438 LNCS).

Research output: Chapter in Book/Report/Conference proceeding › Conference Proceeding (Non-Journal item)

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Buzdalov M, Kolyubin S, Egorov A, Borisov I. Optimizing Robotic Cheetah Leg Parameters Using Evolutionary Algorithms. In Filipic B, Minisci E, Vasile M, editors, Bioinspired Optimization Methods and Their Applications - 9th International Conference, BIOMA 2020, Proceedings: 9th International Conference, BIOMA 2020, Brussels, Belgium, November 19–20, 2020, Proceedings. Springer Nature. 2020. p. 214-227. (Lecture Notes in Computer Science (including subseries Lecture Notes in Artificial Intelligence and Lecture Notes in Bioinformatics)). doi: 10.1007/978-3-030-63710-1_17

Optimizing Robotic Cheetah Leg Parameters Using Evolutionary Algorithms

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