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

研究成果: Paper査読

19 被引用数 (Scopus)

抄録

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.

本文言語English
ページ2678-2683
ページ数6
出版ステータスPublished - 2002 1月 1
イベント2002 IEEE/RSJ International Conference on Intelligent Robots and Systems - Lausanne, Switzerland
継続期間: 2002 9月 302002 10月 4

Other

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

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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