A Study of the Obstacle for a Quadruped Walking Robot Using Genetic and Fuzzy Algorithm

초록

This paper presents the leg trajectory generation for the quadruped robot with genetic-fuzzy algorithm. To have the mobility even at uneven terrain, a robot is able to recognize obstacles, and generates moving path of body that can avoid obstacles. This robot should have its own avoidance algorithm against obstacles, forwarding to target without collision. During walking period, a robot recognizes obstacle from external environment with a PSD and some interface, and this obstacle information is converted into proper the body rotation angle by fuzzy inference engine. After this process, we can infer the walking direction and walking distance of body, and finally can generate the optimal leg trajectory using genetic algorithm. All these methods are verified with PC simulation program, and applied to robot system.