Simultaneous design of morphology of body, neural systems and adaptability to environment of multi-link-type locomotive robots using genetic programming

Proceedings 2001 IEEE/RSJ International Conference on Intelligent Robots and Systems. Expanding the Societal Role of Robotics in the the Next Millennium (Cat. No.01CH37180) Pub Date : 2001-12-01 DOI:10.1109/IROS.2001.976410

K. Endo, T. Maeno

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引用次数: 5

Abstract

In this paper, morphology of body and neural systems that define the locomotion of multilinked locomotive robots that can adapt to changes in environment are designed using the evolutionary computation. The morphology of the body and neural systems have a close relationship to each other. The model of the robot is designed so that the morphology of the body and neural systems emerge simultaneously. The morphology of the body and neural systems are generated using a genetic programming. The tasks are that the robots move on ground including hills of different heights in the two dimensional lateral simulated world under the effect of gravity. The robots are evaluated based both on a moving distance and an efficiency. As a result, various combinations between the morphology of the body and neural systems of the robots were emerged. The evolved robots were able to go over hills which they had not experienced.

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采用遗传规划方法对多连杆型机车机器人的身体形态、神经系统和环境适应性进行同步设计

本文采用进化计算的方法，设计了适应环境变化的多连杆运动机器人的身体形态和运动神经系统。身体的形态与神经系统有着密切的关系。设计了机器人的模型，使其身体形态和神经系统同时出现。身体和神经系统的形态是用遗传程序生成的。任务是在重力的作用下，机器人在二维横向模拟世界的地面上移动，包括不同高度的山丘。机器人的评估基于移动距离和效率。因此，出现了身体形态和机器人神经系统之间的各种组合。进化后的机器人能够翻越它们从未经历过的山丘。

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Proceedings 2001 IEEE/RSJ International Conference on Intelligent Robots and Systems. Expanding the Societal Role of Robotics in the the Next Millennium (Cat. No.01CH37180)

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