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

Ken Endo, Funinori Yamasaki, Takashi Maeno, Hiroaki Kitano

研究成果: Conference contribution

5 被引用数 (Scopus)

抄録

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.

本文言語English
ホスト出版物のタイトルPRICAI 2002
ホスト出版物のサブタイトルTrends in Artificial Intelligence - 7th Pacific Rim International Conference on Artificial Intelligence, Proceedings
編集者Abdul Sattar, Mitsuru Ishizuka
出版社Springer Verlag
ページ325-334
ページ数10
ISBN(印刷版)3540440380, 9783540440383
出版ステータスPublished - 2002 1 1
イベント7th Pacific Rim International Conference on Artificial Intelligence, PRICAI 2002 - Tokyo, Japan
継続期間: 2002 8 182002 8 22

出版物シリーズ

名前Lecture Notes in Computer Science (including subseries Lecture Notes in Artificial Intelligence and Lecture Notes in Bioinformatics)
2417
ISSN(印刷版)0302-9743
ISSN(電子版)1611-3349

Other

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

ASJC Scopus subject areas

  • 理論的コンピュータサイエンス
  • コンピュータ サイエンス(全般)

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