自律機械システムの構造形態と知能の進化的設計法に関する研究 : 第3報,環境の違いによって発現する機能の特性に関する一考察(機械力学,計測,自動制御)

概要

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Effective robot functions emerge from not only according to the level of system control i.e. intelligence but also according to conformity between morphology, intelligence, task and environment. This paper investigates the relationship between robotic morphology and intelligence against environmental conditions and the characteristics of functions emerging in evolutionary robotic systems. The robotic system used in the study has a reconfigurable morphology and intelligence, which were designed by genetic programming. The robotic morphology is represented as a graph structure constructed from cells with motor and visual sensors, and intelligence is a computer program defined by a parse tree. In this study, a simulation of a task in which the robot had to maintain a certain distance from an object was executed. The results clarified the importance of conformity between morphology and intelligence, and showed that effective functions emerge as the result of such conformity between morphology, intelligence, task and environment.
一般社団法人日本機械学会の論文
2002-02-25