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Slimdog Project

Publication

Keyan Zhai, Chu'an Li, and Andre Rosendo. "Scaffolded Learning of In-place Trotting Gait for a Quadruped Robot with Bayesian Optimization." 16th International Conference on Intelligent Autonomous Systems (IAS-16) [Springer][arXiv][Demo]

Run Experiments

  1. Get the parameters by running
$ cd BO/Python_code
$ python3 BO.py

  1. Set the parameters and run main/main.ino in Arduino.

  2. Run strain_gauge program. Switch on the button when the prompt shows.

  3. Get results from the strain gage as the fitness.

  4. Input fitness to BO.py, ge next set of parameters, repeat from step 2.