Co-evolution of morphology and walking pattern of biped humanoid robot using evolutionary computation - Designing the real robot -

Ken Endo, Takashi Maeno, Hiroaki Kitano

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

9 Citations (Scopus)

Abstract

In this paper, a method for co-evolving morphology and controller of real biped walking robot is proposed using evolutionary computation. Although certain control theory exists, such as zero moment point (ZMP) compensation, these theories assume humanoid robot morphology is given in advance. Thus, engineers have to design control program for apriori designed morphology. If morphology and locomotion are considered simultaneously, we do not have to spare time with trial-and-error. The detail model of morphology is used for morphology in which the characteristics of servo module are considered. As the controller, pattern generators are used. The biped walking robot which can walk the longest distance are designed with two step genetic algorithm. As a result, the detail model of the robot which can walk the longest distance is generated from limited size of chromosomes. Moreover, emerged result of cauluration is used for design of the real biped walking robot.

Original languageEnglish
Title of host publicationProceedings - IEEE International Conference on Robotics and Automation
Pages1362-1367
Number of pages6
Volume1
Publication statusPublished - 2003
Event2003 IEEE International Conference on Robotics and Automation - Taipei, Taiwan, Province of China
Duration: 2003 Sep 142003 Sep 19

Other

Other2003 IEEE International Conference on Robotics and Automation
CountryTaiwan, Province of China
CityTaipei
Period03/9/1403/9/19

Fingerprint

Evolutionary algorithms
Robots
Controllers
Chromosomes
Control theory
Genetic algorithms
Engineers

ASJC Scopus subject areas

  • Software
  • 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 - Designing the real robot -. In Proceedings - IEEE International Conference on Robotics and Automation (Vol. 1, pp. 1362-1367)

Co-evolution of morphology and walking pattern of biped humanoid robot using evolutionary computation - Designing the real robot -. / Endo, Ken; Maeno, Takashi; Kitano, Hiroaki.

Proceedings - IEEE International Conference on Robotics and Automation. Vol. 1 2003. p. 1362-1367.

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 - Designing the real robot -. in Proceedings - IEEE International Conference on Robotics and Automation. vol. 1, pp. 1362-1367, 2003 IEEE International Conference on Robotics and Automation, Taipei, Taiwan, Province of China, 03/9/14.
Endo K, Maeno T, Kitano H. Co-evolution of morphology and walking pattern of biped humanoid robot using evolutionary computation - Designing the real robot -. In Proceedings - IEEE International Conference on Robotics and Automation. Vol. 1. 2003. p. 1362-1367
Endo, Ken ; Maeno, Takashi ; Kitano, Hiroaki. / Co-evolution of morphology and walking pattern of biped humanoid robot using evolutionary computation - Designing the real robot -. Proceedings - IEEE International Conference on Robotics and Automation. Vol. 1 2003. pp. 1362-1367
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