Generation Method of Quadrupedal Gait Based on Human Feeling for Animal Type Robot

Hidekazu Suzuki; Hitoshi Nishi

doi:10.20965/jaciii.2011.p0598

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JACIII Vol.15 No.5 pp. 598-605

doi: 10.20965/jaciii.2011.p0598

(2011)

Paper:

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Generation Method of Quadrupedal Gait Based on Human Feeling for Animal Type Robot

Hidekazu Suzuki^* and Hitoshi Nishi^**

^*Department of Electronics and Mechatronics, Faculty of Engineering, Tokyo Polytechnic University, 1583 Iiyama, Atsugi, Kanagawa 243-0297, Japan

^**Department of Electronics and Information Engineering, Fukui National College of Technology, Geshi, Sabae, Fukui 916-8507, Japan

Received:

November 22, 2010

Accepted:

April 4, 2011

Published:

July 20, 2011

Keywords:

robot-assisted therapy (RAT), animal type robot, gait generation, genetic algorithm (GA)

Abstract

Characterizing animal movement appropriately is important in pet robot design and Robot-Assisted Therapy (RAT). In studying how to generate animal gaits in quadruped robots, we used the canine AIBO robot. We began by optimizing a single leg path outputting propulsion efficiently and imitating canine walking using a genetic algorithm and a zoological basis. We administered a questionnaire to help determine subjective feelings in observers for choosing the optimum AIBO gait. We corrected minor deviations in joint parameters to stabilize walking on the ground.

Cite this article as:

H. Suzuki and H. Nishi, “Generation Method of Quadrupedal Gait Based on Human Feeling for Animal Type Robot,” J. Adv. Comput. Intell. Intell. Inform., Vol.15 No.5, pp. 598-605, 2011.

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References

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[2] A. H. Fine, “Handbook on Animal-assisted Therapy: Theoretical Foundations and Guidelines for Practice,” Academic Pr., 2006.
[3] T. Shibata, K. Wada, T. Saito, and K. Tanie, “Human Interactive Robot for Psychological Enrichment and Therapy,” Proc. of the Symposium on Robot Companions: Hard Problems and Open Challenges in Robot-Human Interaction, pp. 98-109, 2005.
[4] http://www.sony.jp/products/Consumer/aibo/
[5] http://paro.jp/
[6] M. R. Banks, L. M. Willoughby, and W. A. Banks, “Animal-Assisted Therapy and Loneliness in Nursing Homes: Use of Robotic versus Living Dogs,” J. of the American Medical Directors Association, Vol.9, No.3, pp. 173-177, 2008.
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[8] K. Wada, T. Shibata, T. Saito, and K. Tanie, “Effects of Robot-Assisted Activity for Elderly People and Nurses at a Day Service Center,” Proc. of the IEEE, Vol.92, No.11, pp. 1780-1788, 2004.
[9] J. Estremera and P. G. Santos, “Generating Continuous Free Crab Gaits for Quadruped Robots on Irregular Terrain,” IEEE Trans. on Robotics, Vol.21, No.6, pp. 1067-1076, 2005.
[10] H. Kimura, Y. Fukuoka, and H. Katabuti, “Mechanical Design of a Quadruped “Tekken3&4” and Navigation System Using Laser Range Sensor,” Proc. of Int. Symposium on Robotics, 2005.
[11] H. Kimura, T. Yamashita, and S. Kobayashi, “Reinforcement Learning ofWalking Behavior for a Four-legged Robot,” 40th IEEE Conf. on Decision and Control, pp. 411-416, 2001.
[12] H. Inada and K. Ishii, “Behavior Generation of Bipedal Robot Using Central Pattern Generator (CPG) – 1st Report: CPG Parameters Searching Method by Genetic Algorithm,” Proc. of the 2003 IEEE/RSJ Int. Conf. on Intelligent Robots and Systems, pp. 2179-2184, 2003.
[13] S. Chernova and M. Velosa, “An Evolutionary Approach to Gait Learning for Four-Legged Robots,” Proc. of the 2004 IEEE/RSJ Int. Conf. on Intelligent Robots and Systems, pp. 2562-2567, 2004.
[14] N. Kohl and P. Stone, “Policy Gradient Reinforcement Learning for Fast Quadrupedal Locomotion,” Proc. of the 2004 IEEE Int. Conf. on Robotics and Automation, pp. 2619-2624, 2004.
[15] D. E. Goldberg, “Genetic Algorithms in Search, Optimization, and Machine Learning,” Addison-Wesley, 1989.
[16] R. McN. Alexander, A. S. Jayes, and R. F. Ker, “Estimation of energy cost for quadrupedal running gaits,” J. of Zoology, Vol.190, pp. 155-192, 1980.
[17] Z. Michalewicz, “Genetic Algorithms + Data Structures = Evolution Programs,” Spring-Verlag, 1994.
[18] D. E. Goldberg, “The Design of Innovation: Lessons from and for Competent Genetic Algorithms,” Springer, 2002.
[19] T. Back, “Evolutionary Algorithms in Theory and Practice,” Oxford University Press, 1996.

This article is published under a Creative Commons Attribution-NoDerivatives 4.0 Internationa License.

[1] [1] M. M. Baun, N. Bergstrom, N. Langston, and L. Thoma, “Physiological Effects of Human/Companion Animal Bonding,” Nursing Research, Vol.33, No.3, pp. 126-129, 1984.

[2] [2] A. H. Fine, “Handbook on Animal-assisted Therapy: Theoretical Foundations and Guidelines for Practice,” Academic Pr., 2006.

[3] [3] T. Shibata, K. Wada, T. Saito, and K. Tanie, “Human Interactive Robot for Psychological Enrichment and Therapy,” Proc. of the Symposium on Robot Companions: Hard Problems and Open Challenges in Robot-Human Interaction, pp. 98-109, 2005.

[4] [4] http://www.sony.jp/products/Consumer/aibo/

[5] [5] http://paro.jp/

[6] [6] M. R. Banks, L. M. Willoughby, and W. A. Banks, “Animal-Assisted Therapy and Loneliness in Nursing Homes: Use of Robotic versus Living Dogs,” J. of the American Medical Directors Association, Vol.9, No.3, pp. 173-177, 2008.

[7] [7] T. Shibata, T. Mitsui, K. Wada, and A. Touda, “Mental Commit Robot and its Application to Therapy of Children,” 2001 IEEE/ASME Int. Conf. on Advanced Intelligent Mechatronics Proc., pp. 1053-1058, 2001.

[8] [8] K. Wada, T. Shibata, T. Saito, and K. Tanie, “Effects of Robot-Assisted Activity for Elderly People and Nurses at a Day Service Center,” Proc. of the IEEE, Vol.92, No.11, pp. 1780-1788, 2004.

[9] [9] J. Estremera and P. G. Santos, “Generating Continuous Free Crab Gaits for Quadruped Robots on Irregular Terrain,” IEEE Trans. on Robotics, Vol.21, No.6, pp. 1067-1076, 2005.

[10] [10] H. Kimura, Y. Fukuoka, and H. Katabuti, “Mechanical Design of a Quadruped “Tekken3&4” and Navigation System Using Laser Range Sensor,” Proc. of Int. Symposium on Robotics, 2005.

[11] [11] H. Kimura, T. Yamashita, and S. Kobayashi, “Reinforcement Learning ofWalking Behavior for a Four-legged Robot,” 40th IEEE Conf. on Decision and Control, pp. 411-416, 2001.

[12] [12] H. Inada and K. Ishii, “Behavior Generation of Bipedal Robot Using Central Pattern Generator (CPG) – 1st Report: CPG Parameters Searching Method by Genetic Algorithm,” Proc. of the 2003 IEEE/RSJ Int. Conf. on Intelligent Robots and Systems, pp. 2179-2184, 2003.

[13] [13] S. Chernova and M. Velosa, “An Evolutionary Approach to Gait Learning for Four-Legged Robots,” Proc. of the 2004 IEEE/RSJ Int. Conf. on Intelligent Robots and Systems, pp. 2562-2567, 2004.

[14] [14] N. Kohl and P. Stone, “Policy Gradient Reinforcement Learning for Fast Quadrupedal Locomotion,” Proc. of the 2004 IEEE Int. Conf. on Robotics and Automation, pp. 2619-2624, 2004.

[15] [15] D. E. Goldberg, “Genetic Algorithms in Search, Optimization, and Machine Learning,” Addison-Wesley, 1989.

[16] [16] R. McN. Alexander, A. S. Jayes, and R. F. Ker, “Estimation of energy cost for quadrupedal running gaits,” J. of Zoology, Vol.190, pp. 155-192, 1980.

[17] [17] Z. Michalewicz, “Genetic Algorithms + Data Structures = Evolution Programs,” Spring-Verlag, 1994.

[18] [18] D. E. Goldberg, “The Design of Innovation: Lessons from and for Competent Genetic Algorithms,” Springer, 2002.

[19] [19] T. Back, “Evolutionary Algorithms in Theory and Practice,” Oxford University Press, 1996.

Generation Method of Quadrupedal Gait Based on Human Feeling for Animal Type Robot

Hidekazu Suzuki* and Hitoshi Nishi**

Hidekazu Suzuki^* and Hitoshi Nishi^**