Co-evolution of Morphology and Walking Pattern of Biped Humanoid Robot using Evolutionary Computation - Evolutionary Designing Method and its Evaluation

Ken Endo, Takashi Maeno, Hiroaki Kitano

Research output: Chapter in Book/Report/Conference proceedingConference contribution

6 Citations (Scopus)

Abstract

In this paper, evolutionary designing method of a bi-ped walking robot is proposed and evaluated in comparison with traditional manner. Usually, the structure and control system of robot have been designed separately. Therefore, the structure is given in advance when the control system is developed. This results in a great deal of trial-and-errors. On the other hand, evolutionary designing method carries out these operations simultaneously. Two calculations are conducted of which morphologies are changed (evolutionary designing method) and not changed (traditional manner) during the evolution. As a result, almost the same number of pareto optimal solutions are emerged. However, solutions generated with evolutionary designing method obtain higher fitnesses than the others. This means that evolutionary designing method could be powerful and efficient method for the real robot.

Original languageEnglish
Title of host publicationIEEE International Conference on Intelligent Robots and Systems
Pages340-345
Number of pages6
Volume1
Publication statusPublished - 2003
Event2003 IEEE/RSJ International Conference on Intelligent Robots and Systems - Las Vegas, NV, United States
Duration: 2003 Oct 272003 Oct 31

Other

Other2003 IEEE/RSJ International Conference on Intelligent Robots and Systems
CountryUnited States
CityLas Vegas, NV
Period03/10/2703/10/31

Fingerprint

Evolutionary algorithms
Robots
Control systems

ASJC Scopus subject areas

  • Control and Systems Engineering

Cite this

Endo, K., Maeno, T., & Kitano, H. (2003). Co-evolution of Morphology and Walking Pattern of Biped Humanoid Robot using Evolutionary Computation - Evolutionary Designing Method and its Evaluation. In IEEE International Conference on Intelligent Robots and Systems (Vol. 1, pp. 340-345)

Co-evolution of Morphology and Walking Pattern of Biped Humanoid Robot using Evolutionary Computation - Evolutionary Designing Method and its Evaluation. / Endo, Ken; Maeno, Takashi; Kitano, Hiroaki.

IEEE International Conference on Intelligent Robots and Systems. Vol. 1 2003. p. 340-345.

Research output: Chapter in Book/Report/Conference proceedingConference contribution

Endo, K, Maeno, T & Kitano, H 2003, Co-evolution of Morphology and Walking Pattern of Biped Humanoid Robot using Evolutionary Computation - Evolutionary Designing Method and its Evaluation. in IEEE International Conference on Intelligent Robots and Systems. vol. 1, pp. 340-345, 2003 IEEE/RSJ International Conference on Intelligent Robots and Systems, Las Vegas, NV, United States, 03/10/27.
Endo K, Maeno T, Kitano H. Co-evolution of Morphology and Walking Pattern of Biped Humanoid Robot using Evolutionary Computation - Evolutionary Designing Method and its Evaluation. In IEEE International Conference on Intelligent Robots and Systems. Vol. 1. 2003. p. 340-345
Endo, Ken ; Maeno, Takashi ; Kitano, Hiroaki. / Co-evolution of Morphology and Walking Pattern of Biped Humanoid Robot using Evolutionary Computation - Evolutionary Designing Method and its Evaluation. IEEE International Conference on Intelligent Robots and Systems. Vol. 1 2003. pp. 340-345
@inproceedings{b4cc8bae178f4cb49ab4f65235483723,
title = "Co-evolution of Morphology and Walking Pattern of Biped Humanoid Robot using Evolutionary Computation - Evolutionary Designing Method and its Evaluation",
abstract = "In this paper, evolutionary designing method of a bi-ped walking robot is proposed and evaluated in comparison with traditional manner. Usually, the structure and control system of robot have been designed separately. Therefore, the structure is given in advance when the control system is developed. This results in a great deal of trial-and-errors. On the other hand, evolutionary designing method carries out these operations simultaneously. Two calculations are conducted of which morphologies are changed (evolutionary designing method) and not changed (traditional manner) during the evolution. As a result, almost the same number of pareto optimal solutions are emerged. However, solutions generated with evolutionary designing method obtain higher fitnesses than the others. This means that evolutionary designing method could be powerful and efficient method for the real robot.",
author = "Ken Endo and Takashi Maeno and Hiroaki Kitano",
year = "2003",
language = "English",
volume = "1",
pages = "340--345",
booktitle = "IEEE International Conference on Intelligent Robots and Systems",

}

TY - GEN

T1 - Co-evolution of Morphology and Walking Pattern of Biped Humanoid Robot using Evolutionary Computation - Evolutionary Designing Method and its Evaluation

AU - Endo, Ken

AU - Maeno, Takashi

AU - Kitano, Hiroaki

PY - 2003

Y1 - 2003

N2 - In this paper, evolutionary designing method of a bi-ped walking robot is proposed and evaluated in comparison with traditional manner. Usually, the structure and control system of robot have been designed separately. Therefore, the structure is given in advance when the control system is developed. This results in a great deal of trial-and-errors. On the other hand, evolutionary designing method carries out these operations simultaneously. Two calculations are conducted of which morphologies are changed (evolutionary designing method) and not changed (traditional manner) during the evolution. As a result, almost the same number of pareto optimal solutions are emerged. However, solutions generated with evolutionary designing method obtain higher fitnesses than the others. This means that evolutionary designing method could be powerful and efficient method for the real robot.

AB - In this paper, evolutionary designing method of a bi-ped walking robot is proposed and evaluated in comparison with traditional manner. Usually, the structure and control system of robot have been designed separately. Therefore, the structure is given in advance when the control system is developed. This results in a great deal of trial-and-errors. On the other hand, evolutionary designing method carries out these operations simultaneously. Two calculations are conducted of which morphologies are changed (evolutionary designing method) and not changed (traditional manner) during the evolution. As a result, almost the same number of pareto optimal solutions are emerged. However, solutions generated with evolutionary designing method obtain higher fitnesses than the others. This means that evolutionary designing method could be powerful and efficient method for the real robot.

UR - http://www.scopus.com/inward/record.url?scp=0346149801&partnerID=8YFLogxK

UR - http://www.scopus.com/inward/citedby.url?scp=0346149801&partnerID=8YFLogxK

M3 - Conference contribution

AN - SCOPUS:0346149801

VL - 1

SP - 340

EP - 345

BT - IEEE International Conference on Intelligent Robots and Systems

ER -