Sensitivity analysis of a crawl gait multi-objective optimization system

• Author(s): Oliveira, Miguel ; Silva, Pedro ; Santos, Cristina ; Costa, L.
• Date: 2013
• Persistent ID: http://hdl.handle.net/1822/26781
• Origin: RepositóriUM - Universidade do Minho
• Subject(s): Evolutionary robotics; Multi-objective optimization; Genetic
• Document Type: Conference Object
• Language: English

Description

This paper describes the analysis of a crawl gait multi-objective optimization system that combines bio-inspired Central Patterns Generators (CPGs) and a multi-objective evolutionary algorithm. In order to optimize the crawl gait, a multiobjective problem, an optimization system based on NSGAII allows to find a set of non-dominated solutions that correspond to different motor solutions The experimental results highlight the effectiveness of this multi-objective approach.