Generation of optimal biped walking for humanoid robot by co-evolving morphology and controller

Ken Endo, Funinori Yamasaki, Takashi Maeno, Hiroaki Kitano

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

5 Citations (Scopus)

Abstract

In this paper, a method for co-evolving morphology and controller of bi-ped humanoid robots is proposed. Currently, structure and walking pattern of humanoid robots are designed manually on trial-anderror basis. Although certain control theory exists, for example zero moment point (ZMP) compensation, these theories do not constrain structure of humanoid robot or detailed control. Thus, engineers has to design control program for apriori designed morphology, neither of them shown to be optimal within a large design space. Therefore, evolutionary approaches that enables co-evolution of morphology and control can be useful for designing the humanoid robot. Co-evolution was achieved in a precision dynamics simulator, and discovered unexpected optimal solutions. 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 design in speedy manner. This is a major importance to the emerging robotics industries.

Original languageEnglish
Title of host publicationPRICAI 2002
Subtitle of host publicationTrends in Artificial Intelligence - 7th Pacific Rim International Conference on Artificial Intelligence, Proceedings
EditorsAbdul Sattar, Mitsuru Ishizuka
PublisherSpringer Verlag
Pages325-334
Number of pages10
ISBN (Print)3540440380, 9783540440383
Publication statusPublished - 2002 Jan 1
Event7th Pacific Rim International Conference on Artificial Intelligence, PRICAI 2002 - Tokyo, Japan
Duration: 2002 Aug 182002 Aug 22

Publication series

NameLecture Notes in Computer Science (including subseries Lecture Notes in Artificial Intelligence and Lecture Notes in Bioinformatics)
Volume2417
ISSN (Print)0302-9743
ISSN (Electronic)1611-3349

Other

Other7th Pacific Rim International Conference on Artificial Intelligence, PRICAI 2002
CountryJapan
CityTokyo
Period02/8/1802/8/22

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ASJC Scopus subject areas

  • Theoretical Computer Science
  • Computer Science(all)

Cite this

Endo, K., Yamasaki, F., Maeno, T., & Kitano, H. (2002). Generation of optimal biped walking for humanoid robot by co-evolving morphology and controller. In A. Sattar, & M. Ishizuka (Eds.), PRICAI 2002: Trends in Artificial Intelligence - 7th Pacific Rim International Conference on Artificial Intelligence, Proceedings (pp. 325-334). (Lecture Notes in Computer Science (including subseries Lecture Notes in Artificial Intelligence and Lecture Notes in Bioinformatics); Vol. 2417). Springer Verlag.