Utilize este identificador para referenciar este registo: http://hdl.handle.net/10400.22/2903
Título: A literature review on the optimization of legged robots
Autor: Silva, Manuel F.
Machado, J. A. Tenreiro
Palavras-chave: Artificial legged locomotion
Genetic algorithms
Locomotion gaits
Walking robots
Data: 2012
Editora: Sage
Relatório da Série N.º: Journal of vibration and control; Vol. 18, Issue 12
Resumo: Over the last two decades the research and development of legged locomotion robots has grown steadily. Legged systems present major advantages when compared with ‘traditional’ vehicles, because they allow locomotion in inaccessible terrain to vehicles with wheels and tracks. However, the robustness of legged robots, and especially their energy consumption, among other aspects, still lag behind mechanisms that use wheels and tracks. Therefore, in the present state of development, there are several aspects that need to be improved and optimized. Keeping these ideas in mind, this paper presents the review of the literature of different methods adopted for the optimization of the structure and locomotion gaits of walking robots. Among the distinct possible strategies often used for these tasks are referred approaches such as the mimicking of biological animals, the use of evolutionary schemes to find the optimal parameters and structures, the adoption of sound mechanical design rules, and the optimization of power-based indexes.
Peer review: yes
URI: http://hdl.handle.net/10400.22/2903
ISSN: 1077-5463
Versão do Editor: http://jvc.sagepub.com/content/18/12/1753.abstract
Aparece nas colecções:ISEP – GECAD – Artigos

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