Evolving Autonomous Robot: From Controller to Morphology
Summary :
Building robots is generally considered difficult, because the designer not only has to predict the interactions between the robot and the environment, but also has to deal with the consequent problems. In recent years, evolutionary algorithms have been proposed to synthesize robot controllers. However, admittedly, it is not satisfactory enough just to evolve the control system, because the performance of the control system depends on other hardware parameters -- the robot body plan -- which might include body size, wheel radius, motor time constant, etc. Therefore, the robot body plan itself should, ideally, also adapt to the task that the evolved robot is expected to accomplish. In this paper, a hybrid GP/GA framework is presented to evolve complete robot systems, including controllers and bodies, to achieve fitness-specified tasks. In order to assess the performance of the developed system, we use it with a fixed robot body plan to evolve controllers for a variety of tasks at first, then to evolve complete robot systems. Experimental results show the promise of our system.
- Publication
- IEICE TRANSACTIONS on Information Vol.E83-D No.2 pp.200-210
- Publication Date
- 2000/02/25
- Publicized
- Online ISSN
- DOI
- Type of Manuscript
- PAPER
- Category
- Artificial Intelligence, Cognitive Science
Authors
Keyword
Latest Issue
Copyrights notice of machine-translated contents
The copyright of the original papers published on this site belongs to IEICE. Unauthorized use of the original or translated papers is prohibited. See IEICE Provisions on Copyright for details.
Cite this
Copy
Wei-Po LEE, "Evolving Autonomous Robot: From Controller to Morphology" in IEICE TRANSACTIONS on Information,
vol. E83-D, no. 2, pp. 200-210, February 2000, doi: .
Abstract: Building robots is generally considered difficult, because the designer not only has to predict the interactions between the robot and the environment, but also has to deal with the consequent problems. In recent years, evolutionary algorithms have been proposed to synthesize robot controllers. However, admittedly, it is not satisfactory enough just to evolve the control system, because the performance of the control system depends on other hardware parameters -- the robot body plan -- which might include body size, wheel radius, motor time constant, etc. Therefore, the robot body plan itself should, ideally, also adapt to the task that the evolved robot is expected to accomplish. In this paper, a hybrid GP/GA framework is presented to evolve complete robot systems, including controllers and bodies, to achieve fitness-specified tasks. In order to assess the performance of the developed system, we use it with a fixed robot body plan to evolve controllers for a variety of tasks at first, then to evolve complete robot systems. Experimental results show the promise of our system.
URL: https://global.ieice.org/en_transactions/information/10.1587/e83-d_2_200/_p
Copy
@ARTICLE{e83-d_2_200,
author={Wei-Po LEE, },
journal={IEICE TRANSACTIONS on Information},
title={Evolving Autonomous Robot: From Controller to Morphology},
year={2000},
volume={E83-D},
number={2},
pages={200-210},
abstract={Building robots is generally considered difficult, because the designer not only has to predict the interactions between the robot and the environment, but also has to deal with the consequent problems. In recent years, evolutionary algorithms have been proposed to synthesize robot controllers. However, admittedly, it is not satisfactory enough just to evolve the control system, because the performance of the control system depends on other hardware parameters -- the robot body plan -- which might include body size, wheel radius, motor time constant, etc. Therefore, the robot body plan itself should, ideally, also adapt to the task that the evolved robot is expected to accomplish. In this paper, a hybrid GP/GA framework is presented to evolve complete robot systems, including controllers and bodies, to achieve fitness-specified tasks. In order to assess the performance of the developed system, we use it with a fixed robot body plan to evolve controllers for a variety of tasks at first, then to evolve complete robot systems. Experimental results show the promise of our system.},
keywords={},
doi={},
ISSN={},
month={February},}
Copy
TY - JOUR
TI - Evolving Autonomous Robot: From Controller to Morphology
T2 - IEICE TRANSACTIONS on Information
SP - 200
EP - 210
AU - Wei-Po LEE
PY - 2000
DO -
JO - IEICE TRANSACTIONS on Information
SN -
VL - E83-D
IS - 2
JA - IEICE TRANSACTIONS on Information
Y1 - February 2000
AB - Building robots is generally considered difficult, because the designer not only has to predict the interactions between the robot and the environment, but also has to deal with the consequent problems. In recent years, evolutionary algorithms have been proposed to synthesize robot controllers. However, admittedly, it is not satisfactory enough just to evolve the control system, because the performance of the control system depends on other hardware parameters -- the robot body plan -- which might include body size, wheel radius, motor time constant, etc. Therefore, the robot body plan itself should, ideally, also adapt to the task that the evolved robot is expected to accomplish. In this paper, a hybrid GP/GA framework is presented to evolve complete robot systems, including controllers and bodies, to achieve fitness-specified tasks. In order to assess the performance of the developed system, we use it with a fixed robot body plan to evolve controllers for a variety of tasks at first, then to evolve complete robot systems. Experimental results show the promise of our system.
ER -
English
