Simultaneous design of the sensory morphology and controller of mobile robots

Komei Sugiura, Hiroshi Kawakami, Osamu Katai

研究成果: Article査読

1 被引用数 (Scopus)


This paper proposes a method for automatic design of the sensory morphology of a mobile robot. The proposed method employs two types of adaptations, ontogenetic and phylogenetic, to optimize the sensory morphology of the robot. In ontogenetic adaptation, reinforcement learning searches for the optimal policy, which is highly dependent on the sensory morphology. In phylogenetic adaptation, a genetic algorithm is used to select morphologies with which the robot can learn tasks faster. Our proposed method was applied to the design of the sensory morphology of a line-following robot. We performed simulation experiments to compare the design solution with a hand-coded robot. The results of the experiments revealed that our robot outperformed the hand-coded robot in terms of the following accuracy and learning speed, although our robot had fewer sensors than the hand-coded one. We also built a physical robot using the design solution. The experimental results revealed that this physical robot used its morphology effectively and outperformed the hand-coded robot.

ジャーナルElectrical Engineering in Japan (English translation of Denki Gakkai Ronbunshi)
出版ステータスPublished - 2010 7月 15

ASJC Scopus subject areas

  • エネルギー工学および電力技術
  • 電子工学および電気工学


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