{"product_id":"multi-objective-optimization-for-speed-and-stability-of-a-sony-aibo-gait-9781249374176","title":"Multi-Objective Optimization for Speed and Stability of a Sony AIBO Gait","description":"\u003cp\u003e • Author(s): Air Force Institute of Technology | Christopher A. Patterson\u003cbr\u003e • Publisher: Biblioscholar\u003cbr\u003e • Publisher Imprint: Biblioscholar\u003cbr\u003e • BISAC: General\u003c\/p\u003e\u003cp\u003eAs part of the RoboCup 4-legged league, many researchers have worked on increasing the walking\/gait speed of Sony AIBO robots. Recently, the effort shifted from developing a quick gait, to developing a gait that also provides a stable sensing platform. However, to date, optimization of both velocity and camera stability has only occurred usinga single fitness function that incorporates the two objectives with a weighting that defines the desired tradeoff between them. However, the true nature of this tradeoff is not understood because the pareto front has never been charted, so this a priori decision is uninformed. This project applies the Nondominated Sorting Genetic Algorithm-II (NSGA-II) to find a pareto set of fast, stable gait parameters. This allows a user to select the best tradeoff between balance and speed for a given application. Three fitness functions are defined: one speed measure and two stability measures. A plot of evolved gaits shows a pareto front that indicates speed and stability are indeed conflicting goals. Interestingly, the results also show that tradeoffs also exist between different measures of stability.\u003c\/p\u003e","brand":"Biblioscholar","offers":[{"title":"Paperback","offer_id":47599387803799,"sku":"9781249374176","price":5102.0,"currency_code":"INR","in_stock":false}],"thumbnail_url":"\/\/cdn.shopify.com\/s\/files\/1\/0666\/3471\/1191\/files\/9781249374176.webp?v=1775004248","url":"https:\/\/atlanticbooks.com\/products\/multi-objective-optimization-for-speed-and-stability-of-a-sony-aibo-gait-9781249374176","provider":"Atlantic Books","version":"1.0","type":"link"}