Evolutionary Multivalued Decision Diagrams for Obtaining Motion Representation of Humanoid Robots

In this paper, we propose a method, using multivalued decision diagrams (MDDs), to obtain motion representation of humanoid robots. Kanoh et al. have proposed a method, which uses multiterminal binary decision diagrams (MTBDDs), to acquire robot controller. However, nonterminal vertices of MTBDDs can only treat values of 0 or 1; multiple variables are needed to represent a single joint angle. This increases the number of the non-terminal vertices and MTBDDs that represent that the controller becomes complex. Therefore, we consider using the MDD, in which its nonterminal vertices can take on multiple output values. To obtain humanoid robot motion representation, we propose evolutionary MDDs and show experimental results comparing evolutionary MDDs and evolutionary MTBDDs through simulations of acquisition of robot motion in this paper. Moreover, we verify whether the evolution of MDD using a memetic algorithm is effective.