Adaptive Gait Generation for Hexapod Robot using Genetic Algorithm

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Project undertaken by me and Kunal Gupta during December 2015. This is similar to how a dog learns to walk on its own after damage to one of its legs. Nature is fascinating and beautiful.

Aim was to generate a gait(walking mechanism) for a hexapod using Genetic algorithm, that is, without manually programming the gait in the hexapod controller, but rather, simulating many gaits over many generations to develop the perfect one. This GA model was then applied to generate a gait for a hexapod with damaged leg, hence, "Adaptive Gait Generation". MATLAB was used to generate the gaits using GA and the real life hexapod was used to test those gaits.
  1. Aditya Manglik
  2. genetic algorithm
  3. hexapod
  4. adaptive gait
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Комментарии
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Have you gotten any further with this? looks really awsome!

capitangreen
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Awesome man! Can you share information how do you make this in simulation matlab, I currently make this project and I don't know how simulation in matlab?

thangle
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Could you share tour code? Im making a hexapod myself and i cannot code a simulated robot as i am a novice to matlab.

seanjhardy
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I am trying to do something similar. Can I contact you to a little help?

viniciusjeanferreira
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Sir i m working on same project . I require a help from you. Can you pls share your code with me ..?

SurajGupta-yyvv