進化的計算法を用いたリンク型移動ロボットの形態と運動パターンのデザイン法

概要

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In this paper, a method for designing morphology of body and neural systems of link-type robots is suggested in which the robots can adapt the changes in environment using the evolutionary computation. The morphology of the body and neural systems have a close relationship to each other. So the model of the robot is constructed in which the morphology of the body and neural systems emerge simultaneously. The morphology of the body and neural systems are generated using a Genetic Programming. As a neural system, six kinds of them are used to compare with each other. The tasks are that the robots move on grounds including different height of hills from generation to generation in the two dimensional lateral simulated world under the effect of the gravity. The robots are evaluated based both on a moving distance and an efficiency. As a result, various combinations between the morphology of the body and neural systems of the robots were emerged. Moreover, the robot went over the hills that were not experienced. Finally, this method is applied to design the real.
社団法人日本ロボット学会の論文
2004-03-15