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Robot device and learning method of robot device

  • US 6,534,943 B1
  • Filed: 10/24/2000
  • Issued: 03/18/2003
  • Est. Priority Date: 10/25/1999
  • Status: Expired due to Fees
First Claim
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1. A robot apparatus comprising:

  • a plurality of legs respectively connected to a body to support said body;

    driving means for independently moving each of said legs;

    generating means for generating a plurality of walking patterns of the robot, each walking pattern being prescribed by a plurality of parameters;

    control means for controlling said driving means based on said plurality of parameters so that the robot walks according to said plurality of walking patterns;

    evaluating means for evaluating an adaptability of each of said plurality of walking patterns to each of a plurality of walking surfaces, whereby the robot evaluates said walking patterns by searching for, detecting and walking toward a target; and

    updating means for updating said plurality of parameters based on the robot'"'"'s own evaluation of said walking patterns, whereby said updating means updates said parameters prescribing said walking patterns according to a genetic algorithm.

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