Co-evolution of Morphology and Walking Pattern of Biped Humanoid Robot using Evolutionary Computation - Evolutionary Designing Method and its Evaluation

Ken Endo, Takashi Maeno, Hiroaki Kitano

研究成果: Paper査読

8 被引用数 (Scopus)

抄録

In this paper, evolutionary designing method of a bi-ped walking robot is proposed and evaluated in comparison with traditional manner. Usually, the structure and control system of robot have been designed separately. Therefore, the structure is given in advance when the control system is developed. This results in a great deal of trial-and-errors. On the other hand, evolutionary designing method carries out these operations simultaneously. Two calculations are conducted of which morphologies are changed (evolutionary designing method) and not changed (traditional manner) during the evolution. As a result, almost the same number of pareto optimal solutions are emerged. However, solutions generated with evolutionary designing method obtain higher fitnesses than the others. This means that evolutionary designing method could be powerful and efficient method for the real robot.

本文言語English
ページ340-345
ページ数6
出版ステータスPublished - 2003
イベント2003 IEEE/RSJ International Conference on Intelligent Robots and Systems - Las Vegas, NV, United States
継続期間: 2003 10 272003 10 31

Other

Other2003 IEEE/RSJ International Conference on Intelligent Robots and Systems
国/地域United States
CityLas Vegas, NV
Period03/10/2703/10/31

ASJC Scopus subject areas

  • 制御およびシステム工学
  • ソフトウェア
  • コンピュータ ビジョンおよびパターン認識
  • コンピュータ サイエンスの応用

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