期刊名称：Applied Computational Intelligence and Soft Computing
印刷版ISSN：1687-9724
电子版ISSN：1687-9732
出版年度：2010
卷号：2010
DOI：10.1155/2010/413179
出版社：Hindawi Publishing Corporation
摘要：Gait generation is very important as it directly affects the quality of locomotion of legged robots. As this is an optimization problem with constraints, it readily lends itself to Evolutionary Computation methods and solutions. This paper reviews the techniques used in evolution-based gait optimization, including why Evolutionary Computation techniques should be used, how fitness functions should be composed, and the selection of genetic operators and control parameters. This paper also addresses further possible improvements in the efficiency and quality of evolutionary gait optimization, some problems that have not yet been resolved and the perspectives for related future research.
