Evolving Autonomous Robot: From Controller to Morphology

概要

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Building robots is generally considered difficult, because the designer not only has to predict the interactions between the robot and the environment, but also has to deal with the consequent problems. In recent years, evolutionary algorithms have been proposed to synthesize robot controllers. However, admittedly, it is not satisfactory enough just to evolve the control system, because the performance of the control system depends on other hardware parameters-the robot body plan -which might include body size, wheel radius, motor time constant, etc. Therefore, the robot body plan itself should, ideally, also adapt to the task that the evolved robot is expected to accomplish. In this paper, a hybrid GP / GA framework is presented to evolve complete robot systems, including controllers and bodies, to achieve fitness-specified tasks. In order to assess the performance of the developed system, we use it with a fixed robot body plan to evolve controllers for a variety of tasks at first, then to evolve complete robot systems. Experimental results show the promise of our system.
社団法人電子情報通信学会の論文
2000-02-25