DocumentCode :
1870439
Title :
A method for co-evolving morphology and walking pattern of biped humanoid robot
Author :
Endo, Ken ; Yamasaki, Fuminori ; Maeno, Takashi ; Kitano, Hiroaki
Author_Institution :
Kitano Symbiotic Syst. Project, ERATO, Tokyo, Japan
Volume :
3
fYear :
2002
fDate :
2002
Firstpage :
2775
Lastpage :
2780
Abstract :
We present a method for co-evolving structures and a controller of biped walking robots. Currently, biped walking humanoid robots are designed manually on trial-and-error basis. Although a certain control theory exists, such as zero moment point compensation, these theories assume humanoid robot morphology is given in advance. Thus, engineers have to design a control program for a priori designed morphology. It is very time consuming if both morphology and locomotion are considered simultaneously. Therefore, a method useful for designing the robot is proposed. First, simple models for both morphology and controller are used for the dynamic simulation, which are multi-link models as morphology and two kinds of controllers. One is a layered neural network and the other is a neural oscillator. Robots with optimal energy efficiency of walking are designed with the genetic algorithm. As a result, various combinations of morphologies and gaits are generated, and the relationship between the length of each link and moving distance is obtained, which gives an optimal energy efficiency. Moreover, the robots are encoded from the limited size of chromosomes
Keywords :
genetic algorithms; legged locomotion; mathematical morphology; motion control; neural nets; robot dynamics; biped walking; coevolving morphology; energy efficiency; genetic algorithm; humanoid robot; legged locomotion; neural network; walking pattern; zero moment point compensation; Algorithm design and analysis; Control theory; Design engineering; Design methodology; Energy efficiency; Humanoid robots; Legged locomotion; Morphology; Neural networks; Oscillators;
fLanguage :
English
Publisher :
ieee
Conference_Titel :
Robotics and Automation, 2002. Proceedings. ICRA '02. IEEE International Conference on
Conference_Location :
Washington, DC
Print_ISBN :
0-7803-7272-7
Type :
conf
DOI :
10.1109/ROBOT.2002.1013652
Filename :
1013652
Link To Document :
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