形態と知能の進化を考慮したロボットシステムに関する研究 : 対称性発現のメカニズムに関する一考察(機械力学, 計測, 自動制御)

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This paper deals with a concept that effective robotic function emerges from not only intelligence but also the balance of morphology and intelligence through physical interaction with a changing environment. In this paper, the morphology of a robot is represented by the arrangement of two visual sensors and the intelligence is described as a decision tree of sensor inputs and motor outputs. Both of morphology and intelligence are automatically generated and evolved by genetic programming (GP) for a task of maintaining a certain distance between the robot and an object. The result shows that emergence of symmetry properties for functionality depends on the velocity ratio between the robot and the object.
社団法人日本機械学会の論文
2006-01-25