Motion planning based on hierarchical knowledge for six legged locomotion robot
Kentarou Kurashige, Toshiyuki Fukuda, H. Hoshino · 2003
There are many researches about the motion planning problem. In this field, the main research is into generating motion for a specific robot and task without previously acquired motions. We research motion planning reusing knowledge. It is our object to realize hierarchical knowledge with reuse. We adopt a tree-based representation for expressing the knowledge of the motion and adopt genetic programming as a learning method. We construct the motion planning system using hierarchical knowledge. We apply the proposed method to a six legged locomotion robot to show its applicability.