四腿机器人步态参数自动进化研究与实现

采用进化算法和基于自主视觉的适应度评估方法，实现了四腿机器人在RoboCup机器人足球比赛现场的行走步态在线自动进化．我们引入内推法作为交叉方法，利用PC基站进行进化算法计算和流程主控，并采用了一些学习时间缩减策略．实现了进化学习的连续性和可扩展性，使得学习过程可以在4060min内完成，这样就能在比赛现场对ERS-7四足机器人进行行走再学习，提高了行走控制的适应性．算法最终结果使ERS-7型四足机器人的行走速度从27cm/s提升到43cm/s．

Research and Implementation of Automatic Gait Evolution for 4-Legged Robot

By adopting evolution algorithm and autonomous-vision-based fitness evaluation approaches,the on-line au- tomatic gait evolution of 4-legged robot in a RoboCup soccer field is realized.We incorporate interpolation method as the crossover method,use a PC base station to conduct algorithm calculation and flow control,and adopt some time-cutting strategies.The evolutionary learning is implemented with high continuity and expansibility,and the whole learning process can be completed within 40-60 minutes.In-fiel...