1A1-M08 形態と知能の調和を考慮した進化ロボットシステムに関する研究 : 視覚の空間分解能と時間分解能が形態に及ぼす影響の解明(進化・学習とロボティクス)

概要

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In this paper, we clarify relationship between spatio-temporal resolution of a visual sensor and body size of a robot using an evolutionary robotic system that designs its own morphology and intelligence simultaneously. In nature, it tends to be that the smaller the creature size, the lower the spatial resolution of the visual sensor and the higher the temporal resolution. To investigate this mechanism, we gave robots with different sampling frequency of the visual sensor, number of the pixels and body size a task of maintaining a certain distance to a target and performed evolutionary simulation using genetic programming (GP). The result showed two design principles: the higher the spatio resolution, the better the stereo vision strategy with high frequency and the pursuit strategy with low frequency. Moreover, the higher the spatio resolution, the more downsized the body size with stereovision strategy.
一般社団法人日本機械学会の論文
2011-05-26