Title :
The evolution of neural network controllers for the targeted swing of cockroach-like robot
Author :
Fife, A. ; Laksanacharoen, S. ; Quinn, R.D. ; Beer, R.D. ; Ritzmann, R.E.
Author_Institution :
Dept. of Electr. Eng. & Comput. Sci., Case Western Reserve Univ., Cleveland, OH, USA
fDate :
6/24/1905 12:00:00 AM
Abstract :
In this work, agents are evolved to control the locomotion of legged robots. The work has been done on a 5-DOF simulated cockroach robot leg powered by artificial muscles known as braided pneumatic actuators. The problem was addressed in making a targeted swing movement from a number of possible initial leg configurations. The agents are evolved to successfully compensate for these differences and navigate obstacles in a robust swing
Keywords :
actuators; collision avoidance; genetic algorithms; legged locomotion; motion control; neurocontrollers; pneumatic control equipment; recurrent neural nets; robot dynamics; software agents; artificial muscles; braided pneumatic actuators; continuous-time neural network; genetic algorithms; legged locomotion; mobile robots; neurocontrol; recurrent neural network; simulated cockroach robot; software agents; swing movement; Evolution (biology); Leg; Legged locomotion; Mechanical engineering; Mobile robots; Navigation; Neural networks; Robot control; Robust control; Weight control;
Conference_Titel :
Neural Networks, 2002. IJCNN '02. Proceedings of the 2002 International Joint Conference on
Conference_Location :
Honolulu, HI
Print_ISBN :
0-7803-7278-6
DOI :
10.1109/IJCNN.2002.1005599
