Co-evolution of morphology and walking pattern of biped humanoid robot using evolutionary computation - Consideration of characteristics of the servomotors

Ken Endo, Takashi Maeno, Hiroaki Kitano

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

19 Citations (Scopus)

Abstract

In this paper, we present a method for co-evolving morphology and controller of bi-ped humanoid robots. Currently, bi-ped walking humanoid robots are designed manually on trial-and-error basis. Thus, engineers have to design control program for apriori designed morphology, neither of them shown to be optimal within a large design space. We propose evolutionary approach that co-evolves the morphology and controller. Two steps of co-evolutions were achieved in a precision dynamics simulator. One is for obtaining the optimal lengths of links using simple multi-link model and the other is for obtaining the optimal geometry of servomotor which is often used for radio control car. Finally, unexpected optimal solutions were discovered. This indicate that a complex design task of bi-ped humanoid can be performed automatically using evolution-based approach, thus varieties of humanoid robots can be designed in speedy manner.

Original languageEnglish
Title of host publicationIEEE International Conference on Intelligent Robots and Systems
Pages2678-2683
Number of pages6
Volume3
Publication statusPublished - 2002
Event2002 IEEE/RSJ International Conference on Intelligent Robots and Systems - Lausanne, Switzerland
Duration: 2002 Sep 302002 Oct 4

Other

Other2002 IEEE/RSJ International Conference on Intelligent Robots and Systems
CountrySwitzerland
CityLausanne
Period02/9/3002/10/4

Fingerprint

Servomotors
Evolutionary algorithms
Robots
Controllers
Railroad cars
Simulators
Engineers
Geometry

ASJC Scopus subject areas

  • Control and Systems Engineering

Cite this

Endo, K., Maeno, T., & Kitano, H. (2002). Co-evolution of morphology and walking pattern of biped humanoid robot using evolutionary computation - Consideration of characteristics of the servomotors. In IEEE International Conference on Intelligent Robots and Systems (Vol. 3, pp. 2678-2683)

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

IEEE International Conference on Intelligent Robots and Systems. Vol. 3 2002. p. 2678-2683.

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

Endo, K, Maeno, T & Kitano, H 2002, Co-evolution of morphology and walking pattern of biped humanoid robot using evolutionary computation - Consideration of characteristics of the servomotors. in IEEE International Conference on Intelligent Robots and Systems. vol. 3, pp. 2678-2683, 2002 IEEE/RSJ International Conference on Intelligent Robots and Systems, Lausanne, Switzerland, 02/9/30.
Endo K, Maeno T, Kitano H. Co-evolution of morphology and walking pattern of biped humanoid robot using evolutionary computation - Consideration of characteristics of the servomotors. In IEEE International Conference on Intelligent Robots and Systems. Vol. 3. 2002. p. 2678-2683
Endo, Ken ; Maeno, Takashi ; Kitano, Hiroaki. / Co-evolution of morphology and walking pattern of biped humanoid robot using evolutionary computation - Consideration of characteristics of the servomotors. IEEE International Conference on Intelligent Robots and Systems. Vol. 3 2002. pp. 2678-2683
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