Multi-Objective Optimization for Speed and Stability of a Sony AIBO Gait

Air Force Institute Of Technology, Air Force Institute Of Technology

ISBN 10: 1025073177 / ISBN 13: 9781025073170

Published by Hutson Street Press, 2025

About this Item

Seller Inventory # 50643685-n

Bibliographic Details

• Title: Multi-Objective Optimization for Speed and Stability of a Sony AIBO Gait
• Publisher: Hutson Street Press
• Publication Date: 2025
• Language: English
• ISBN 10: 1025073177
• ISBN 13: 9781025073170
• Binding: Hardcover
• Condition: New

About this title

Synopsis

As part of the RoboCup 4-legged league, many researchers have worked on increasing the walking/gait speed of Sony AIBO robots. Recently, the effort shifted from developing a quick gait, to developing a gait that also provides a stable sensing platform. However, to date, optimization of both velocity and camera stability has only occurred usinga single fitness function that incorporates the two objectives with a weighting that defines the desired tradeoff between them. However, the true nature of this tradeoff is not understood because the pareto front has never been charted, so this a priori decision is uninformed. This project applies the Nondominated Sorting Genetic Algorithm-II (NSGA-II) to find a pareto set of fast, stable gait parameters. This allows a user to select the best tradeoff between balance and speed for a given application. Three fitness functions are defined: one speed measure and two stability measures. A plot of evolved gaits shows a pareto front that indicates speed and stability are indeed conflicting goals. Interestingly, the results also show that tradeoffs also exist between different measures of stability.

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