Abstract
In order for a humanoid robot to move around in various environments, autonmous generation of motions is an important ability. Since a humanoid robot has multiple degrees of freedom (DOF), it can generate enormous motions.However, it is difficult to design a meaningful motion for a humanoid robot because most motions would be useless to handle a task. In this paper, we propose a search mechanism of usable motion inspired by "biological fluctuation." and applied our method to generating a crawling motion. Simulation results show that our proposed method can generate the motion of humanoid robot.
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