Moving performance of reduced D.O.F's quadruped robot

In this paper, an application of genetic algorithm for generation of evolutionary initial poses of a quadruped robot, which reduced degrees of freedom, is described. To reduce degree of freedom, each leg of the robot has a slider-crank mechanism and is driven by an actuator. Furthermore we introduced the forward movement mode and the rotating mode because the omnidirectional movement should be made possible. To generate the suitable initial pose, the initial angle of four legs are coded under real number and tuned by an estimation function in each mode with the genetic algorithm. As a result of generation, the cooperation of the legs are realized to move toward the omnidirection. The experimental results demonstrate that the proposed scheme is effective for generation of the suitable initial poses and the robot can walk smoothly with the generated initial poses.