Using genetic algorithms to establish efficient walking gaits for an eight-legged robot

In the design and development of a legged robot, many factors need to be co nsidered. As a consequence, creating a legged robot that can efficiently an d autonomously negotiate a wide range of terrains is a challenging task. Ma ny researchers working in the area of legged robotics have traditionally lo oked towards the natural world for inspiration and solutions, reasoning tha t these evolutionary solutions are appropriate and effective because they h ave passed the hard tests for survival over time and generations. This pape r reports the use of genetically inspired learning strategies, commonly ref erred to as genetic algorithms, as an evolutionary design tool for improvin g the design and performance of an algorithm for controlling the leg steppi ng sequences of a walking robot. The paper presents a specific case of find ing optimal walking gaits for an eight-legged robot called Robug IV and sim ulated results are provided.