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 publicationLecture Notes in Computer Science (including subseries Lecture Notes in Artificial Intelligence and Lecture Notes in Bioinformatics)
PublisherSpringer Verlag
Pages325-334
Number of pages10
Volume2417
ISBN (Print)3540440380, 9783540440383
Publication statusPublished - 2002
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)03029743
ISSN (Electronic)16113349

Other

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

Fingerprint

Humanoid Robot
Robots
Controller
Controllers
Coevolution
Control theory
Control Theory
Control Design
Robotics
Simulator
Optimal Solution
Simulators
Industry
Moment
Engineers
Zero
Design

ASJC Scopus subject areas

  • Computer Science(all)
  • Theoretical Computer Science

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 Lecture Notes in Computer Science (including subseries Lecture Notes in Artificial Intelligence and Lecture Notes in Bioinformatics) (Vol. 2417, pp. 325-334). (Lecture Notes in Computer Science (including subseries Lecture Notes in Artificial Intelligence and Lecture Notes in Bioinformatics); Vol. 2417). Springer Verlag.

Generation of optimal biped walking for humanoid robot by co-evolving morphology and controller. / Endo, Ken; Yamasaki, Funinori; Maeno, Takashi; Kitano, Hiroaki.

Lecture Notes in Computer Science (including subseries Lecture Notes in Artificial Intelligence and Lecture Notes in Bioinformatics). Vol. 2417 Springer Verlag, 2002. p. 325-334 (Lecture Notes in Computer Science (including subseries Lecture Notes in Artificial Intelligence and Lecture Notes in Bioinformatics); Vol. 2417).

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

Endo, K, Yamasaki, F, Maeno, T & Kitano, H 2002, Generation of optimal biped walking for humanoid robot by co-evolving morphology and controller. in Lecture Notes in Computer Science (including subseries Lecture Notes in Artificial Intelligence and Lecture Notes in Bioinformatics). vol. 2417, Lecture Notes in Computer Science (including subseries Lecture Notes in Artificial Intelligence and Lecture Notes in Bioinformatics), vol. 2417, Springer Verlag, pp. 325-334, 7th Pacific Rim International Conference on Artificial Intelligence, PRICAI 2002, Tokyo, Japan, 02/8/18.
Endo K, Yamasaki F, Maeno T, Kitano H. Generation of optimal biped walking for humanoid robot by co-evolving morphology and controller. In Lecture Notes in Computer Science (including subseries Lecture Notes in Artificial Intelligence and Lecture Notes in Bioinformatics). Vol. 2417. Springer Verlag. 2002. p. 325-334. (Lecture Notes in Computer Science (including subseries Lecture Notes in Artificial Intelligence and Lecture Notes in Bioinformatics)).
Endo, Ken ; Yamasaki, Funinori ; Maeno, Takashi ; Kitano, Hiroaki. / Generation of optimal biped walking for humanoid robot by co-evolving morphology and controller. Lecture Notes in Computer Science (including subseries Lecture Notes in Artificial Intelligence and Lecture Notes in Bioinformatics). Vol. 2417 Springer Verlag, 2002. pp. 325-334 (Lecture Notes in Computer Science (including subseries Lecture Notes in Artificial Intelligence and Lecture Notes in Bioinformatics)).
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