Name
Title | ||
|---|---|---|
Co-evolution of morphology and walking pattern of biped humanoid robot using evolutionary computation. Consideration of characteristic of the servomotors |
Abstract | ||
|---|---|---|
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 indicates that a complex design task of biped humanoid can be performed automatically using evolution-based approach, thus varieties of humanoid robots can be designed in speedy manner. |
Year | DOI | Venue |
|---|---|---|
2003 | 10.1109/IRDS.2002.1041674 | Intelligent Robots and Systems, 2002. IEEE/RSJ International Conference |
Keywords | Field | DocType |
evolutionary computation,legged locomotion,servomotors,simulation,a priori designed morphology,biped humanoid robot,evolutionary computation,morphology coevolution,optimal geometry,precision dynamics simulator,servomotor,servomotors,trial and error basis,walking pattern | Robot control,Control theory,Motion control,Control theory,Evolutionary computation,Control engineering,Zero moment point,Engineering,Robot,Mobile robot,Humanoid robot | Conference |
Volume | Issue | ISSN |
3 | 1 | 1050-4729 |
Citations | PageRank | References |
1 | 0.37 | 0 |
Authors | ||
3 | ||
Name | Order | Citations | PageRank |
|---|---|---|---|
| Ken Endo | 1 | 1 | 0.37 |
| Takashi Maeno | 2 | 315 | 54.47 |
| Hiroaki Kitano | 3 | 3515 | 539.37 |