Simultaneous design of morphology of body, neural systems and adaptability to environment of multi-link-type locomotive robots using genetic programming

Ken Endo, Takashi Maeno

Research output: Contribution to conferencePaper

Abstract

In this paper, morphology of body and neural systems that define the locomotion of multi-linked locomotive robots that can adapt the changes in environment are designed using the evolutionary computation. The morphology of the body and neural systems have a close relationship to each other. The model of the robot is designed so that the morphology of the body and neural systems emerge simultaneously. The morphology of the body and neural systems are generated using a Genetic Programming. The tasks are that the robots move on grounds including different height of hills from generation to generation in the two dimensional lateral simulated world under the effect of the gravity. The robots are evaluated based both on a moving distance and an efficiency. As a result, various combinations between the morphology of the body and neural systems of the robots were emerged. The evolved robots were able to go over the hills which has not been experienced.

Original languageEnglish
Pages2282-2287
Number of pages6
Publication statusPublished - 2001 Dec 1
Event2001 IEEE/RSJ International Conference on Intelligent Robots and Systems - Maui, HI, United States
Duration: 2001 Oct 292001 Nov 3

Other

Other2001 IEEE/RSJ International Conference on Intelligent Robots and Systems
CountryUnited States
CityMaui, HI
Period01/10/2901/11/3

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ASJC Scopus subject areas

  • Control and Systems Engineering
  • Software
  • Computer Vision and Pattern Recognition
  • Computer Science Applications

Cite this

Endo, K., & Maeno, T. (2001). Simultaneous design of morphology of body, neural systems and adaptability to environment of multi-link-type locomotive robots using genetic programming. 2282-2287. Paper presented at 2001 IEEE/RSJ International Conference on Intelligent Robots and Systems, Maui, HI, United States.