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 language | English |
|---|---|
| Title of host publication | IEEE International Conference on Intelligent Robots and Systems |
| Pages | 340-345 |
| Number of pages | 6 |
| Volume | 1 |
| Publication status | Published - 2003 |
| Event | 2003 IEEE/RSJ International Conference on Intelligent Robots and Systems - Las Vegas, NV, United States Duration: 2003 Oct 27 → 2003 Oct 31 |
Other
| Other | 2003 IEEE/RSJ International Conference on Intelligent Robots and Systems |
|---|---|
| Country | United States |
| City | Las Vegas, NV |
| Period | 03/10/27 → 03/10/31 |
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ASJC Scopus subject areas
- Control and Systems Engineering
Cite this
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 proceeding › Conference contribution
}
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.
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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 -