dc.date.accessioned | 2013-11-21T11:01:32Z | |
dc.date.available | 2013-11-21T11:01:32Z | |
dc.date.issued | 2013 | en_US |
dc.date.submitted | 2013-08-01 | en_US |
dc.identifier.citation | Grefsrud, Thomas. Evolving Multi-Directional Locomotion for a Quadruped Robot using Physics Simulation and Real-World Verification. Masteroppgave, University of Oslo, 2013 | en_US |
dc.identifier.uri | http://hdl.handle.net/10852/37692 | |
dc.description.abstract | In this thesis, I have looked at how to evolve locomotion in both predefined and undefined directions for a quadruped robot using a simulator, and developed a way to reduce the amount of different directions needed through a simple mirroring from one direction to its opposite. The goal is to evolve fast gaits in a multitude of directions. Gaits are evolved in simulation and the best in each direction are tested on a quadruped robot. The results show a high speed on the robot, with a 1.8 and 1.6 times improvement over 2 different algorithms. As well as a 1.75 times improvement in simulation over a previous implementation, with the robot tests coming out even. In the end, I have looked at how the differences between simulation and reality might be reduced. | eng |
dc.language.iso | eng | en_US |
dc.title | Evolving Multi-Directional Locomotion for a Quadruped Robot using Physics Simulation and Real-World Verification | en_US |
dc.type | Master thesis | en_US |
dc.date.updated | 2013-11-14 | en_US |
dc.creator.author | Grefsrud, Thomas | en_US |
dc.subject.nsi | VDP::420 | en_US |
dc.identifier.bibliographiccitation | info:ofi/fmt:kev:mtx:ctx&ctx_ver=Z39.88-2004&rft_val_fmt=info:ofi/fmt:kev:mtx:dissertation&rft.au=Grefsrud, Thomas&rft.title=Evolving Multi-Directional Locomotion for a Quadruped Robot using Physics Simulation and Real-World Verification&rft.inst=University of Oslo&rft.date=2013&rft.degree=Masteroppgave | en_US |
dc.identifier.urn | URN:NBN:no-39692 | |
dc.type.document | Masteroppgave | en_US |
dc.identifier.duo | 183843 | en_US |
dc.contributor.supervisor | Kyrre Glette, Jim Tørresen | en_US |
dc.identifier.fulltext | Fulltext https://www.duo.uio.no/bitstream/handle/10852/37692/1/Grefsrud_xMaster.pdf | |