{"status":"ok","message-type":"work","message-version":"1.0.0","message":{"indexed":{"date-parts":[[2025,8,2]],"date-time":"2025-08-02T17:56:38Z","timestamp":1754157398226,"version":"3.41.2"},"reference-count":14,"publisher":"Emerald","issue":"3","license":[{"start":{"date-parts":[[2005,6,1]],"date-time":"2005-06-01T00:00:00Z","timestamp":1117584000000},"content-version":"tdm","delay-in-days":0,"URL":"https:\/\/www.emerald.com\/insight\/site-policies"}],"content-domain":{"domain":[],"crossmark-restriction":false},"short-container-title":[],"published-print":{"date-parts":[[2005,6,1]]},"abstract":"Purpose<\/jats:title>This paper presents an evolutionary algorithm (EA) for Sony legged robots to learn good walking behaviours with little or no interaction with the designers. Once the learning method is put into place, the module can learn through its interaction with the real world.<\/jats:p><\/jats:sec>Design\/methodology\/approach<\/jats:title>An EA for developing locomotion gaits of quadruped walking robots is presented in this paper. It is based on a hybrid approach that changes the probability of genetic operators in respect to the performance of the operator's offspring.<\/jats:p><\/jats:sec>Findings<\/jats:title>The mutating and combination behaviours of the genetic algorithms allow the process to develop a useful behaviour over time. The resulting gait from this training proved to be a better solution than the non\u2010interference training for movements over all types of surfaces, pointing to a local optima being discovered in the non\u2010environmental interference situation.<\/jats:p><\/jats:sec>Research limitations\/implications<\/jats:title>The behaviour of these algorithms is stochastic so that they may potentially present different solutions in different runs of the same algorithm. The mechanism described here has several features that should be noted. It allows rapid parameterisation of operator probabilities across the range of potential genetic algorithms and operator set. It is tailored to a steady state reproduction scheme. It would not be literally applicable to problems with noisy evaluation functions.<\/jats:p><\/jats:sec>Originality\/value<\/jats:title>Provides novel application of genetic algorithms to a potentially practical application area.<\/jats:p><\/jats:sec>","DOI":"10.1108\/01439910510593956","type":"journal-article","created":{"date-parts":[[2005,5,31]],"date-time":"2005-05-31T20:02:59Z","timestamp":1117569779000},"page":"259-267","source":"Crossref","is-referenced-by-count":6,"title":["Evolving locomotion gaits for quadruped walking robots"],"prefix":"10.1108","volume":"32","author":[{"given":"Dragos","family":"Golubovic","sequence":"first","affiliation":[]},{"given":"Huosheng","family":"Hu","sequence":"additional","affiliation":[]}],"member":"140","reference":[{"key":"key2022032220054011800_b1","unstructured":"Asada, M. and Christensen, H.I. (1999), \u201cRobotics in the home, office and play field\u201d, Proceedings of IJCAI, Stockholm, 30 July\u20105 August, pp. 1385\u201092."},{"key":"key2022032220054011800_b2","unstructured":"Beer, R., Chiel, J. and Sterling, L. (1989), \u201cEvolution of plastic neuro\u2010controllers for situated agents, an artificial insect\u201d, American Scientist, Vol. 79, pp. 444\u201052."},{"key":"key2022032220054011800_b3","doi-asserted-by":"crossref","unstructured":"Cruse, H., Bartling, C., Dean, J., Dreifert, M., Kindermann, T. and Schmitz, J. (1995), \u201cWalking: a complex behavior controlled by simple networks\u201d, Adaptive Behavior, Vol. 3, pp. 385\u2010418.","DOI":"10.1177\/105971239500300403"},{"key":"key2022032220054011800_b4","unstructured":"DeJong, K. (1975), \u201cAn analysis of the behaviour of a class of genetic adaptive systems\u201d, PhD Dissertation, University of Michigan, Ann Arbor, MI."},{"key":"key2022032220054011800_b5","unstructured":"Floreano, D. and Mondada, F. (1994), \u201cGenetic evolution of a neural\u2010network driven robot\u201d, Proceedings of the 3rd International Conference on Simulation of Adaptive Behavior, MIT Press, Cambridge, MA, pp. 421\u201030."},{"key":"key2022032220054011800_b6","doi-asserted-by":"crossref","unstructured":"Golubovic, D. and Hu, H. (2002), \u201cAn interactive software environment for gait generation and control design of Sony legged robots\u201d, Proceedings of International Symposium on RoboCup, Fukuoka, June 2002.","DOI":"10.1007\/978-3-540-45135-8_22"},{"key":"key2022032220054011800_b7","doi-asserted-by":"crossref","unstructured":"Grefenstette, J. (1986), \u201cOptimisation of control parameters for genetic algorithms\u201d, IEEE Transactions on Systems, Man, and Cybernetics, Vol. SMC\u201016 No. 1.","DOI":"10.1109\/TSMC.1986.289288"},{"key":"key2022032220054011800_b8","unstructured":"Gu, D. and Hu, H. (2002), \u201cReinforcement learning of fuzzy logic controller for quadruped walking robots\u201d, Proceedings of 15th IFAC World Congress, Barcelona, 21\u201026 July."},{"key":"key2022032220054011800_b9","unstructured":"Hardt, M. and von Stryk, O. (2000), \u201cTowards optimal hybrid control solutions for gait patterns of a quadruped\u201d, paper presented at CLAWAR: International Conference on Climbing and Walking Robots, pp. 385\u201092."},{"key":"key2022032220054011800_b11","doi-asserted-by":"crossref","unstructured":"Hu, H. and Gu, D. (2001), \u201cReactive behaviours and agent architecture for Sony legged robots to play football\u201d, International Journal of Industrial Robot, Vol. 28 No. 1, pp. 45\u201053.","DOI":"10.1108\/01439910110365421"},{"key":"key2022032220054011800_b12","unstructured":"Kitano, H., Fujita, M., Zrehen, S. and Kageyama, K. (1998), \u201cSony legged robot for robocup challenge\u201d, Proceedings IEEE International Conference on Robotics and Automation, Leuven, Belgium, May, pp. 2605\u201012."},{"key":"key2022032220054011800_b13","doi-asserted-by":"crossref","unstructured":"Maza, M., Fontaine, J., Armada, M. and Gonzalez, P. (1998), \u201cWheel+Legs \u2013 a new solution for traction enhancement without additive soil compaction\u201d, IEEE Robotics and Automation Magazine, June, pp. 26\u201032.","DOI":"10.1109\/100.637803"},{"key":"key2022032220054011800_b14","doi-asserted-by":"crossref","unstructured":"Nolfi, S. (1997), \u201cEvolving non\u2010trivial behaviors on real robots: a garbage collecting robot\u201d, International Journal of Robotics and Autonomous System, Vol. 22, pp. 187\u201098.","DOI":"10.1016\/S0921-8890(97)00038-9"},{"key":"key2022032220054011800_b15","doi-asserted-by":"crossref","unstructured":"Taga, G., Yamaguchi, Y. and Shimizu, H. 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