Combining MAP-Elites and Incremental Evolution to Generate Gaits for a Mammalian Quadruped Robot
Combining MAP-Elites and Incremental Evolution to Generate Gaits for a Mammalian Quadruped Robot
复制标题
结合 MAP-Elite 和增量进化来生成哺乳动物四足机器人的步态
DOI：
10.1007/978-3-319-77538-8_48
复制
发表时间：
2018
期刊：
影响因子：
--
通讯作者：
K. Glette
中科院分区：
文献类型：
--
作者：
Jørgen Nordmoen;K. Ellefsen;K. Glette
四足哺乳动物能够表现出各种各样的运动模式，从简单的步行到更复杂的运动，如小跑和疾驰。将这种多样性灌输给四足机器人是有意义的，以提高机动性和可达性。在进化机器人领域，质量多样性技术已经显示出了非凡的能力，不仅可以产生有效的解决方案，而且还可以产生高度多样化的解决方案。当将这种方法应用于四足机器人时，最初的问题是创建不跌倒的可行运动模式。这个困难源于具有挑战性的适应度梯度，由于哺乳动物的形态。在本文中，我们提出了一个解决方案，以克服这个问题，通过实施增量进化的质量多样性框架内。这使我们能够发展出更加复杂的控制器，同时利用质量多样性产生的多样性。我们表明，我们的方法能够在搜索过程的早期生成高适应度的解决方案，保留这些解决方案，并在进化结束时执行更开放的搜索。
Four-legged mammals are capable of showing a great variety of movement patterns, ranging from a simple walk to more complex movement such as trots and gallops. Imbuing this diversity to quadruped robots is of interest in order to improve both mobility and reach. Within the field of Evolutionary Robotics, Quality Diversity techniques have shown a remarkable ability to produce not only effective, but also highly diverse solutions. When applying this approach to four-legged robots an initial problem is to create viable movement patterns that do not fall. This difficulty stems from the challenging fitness gradient due to the mammalian morphology. In this paper we propose a solution to overcome this problem by implementing incremental evolution within the Quality Diversity framework. This allows us to evolve controllers that become more complex while at the same time utilizing the diversity produced by Quality Diversity. We show that our approach is able to generate high fitness solutions early in the search process, keep these solutions and perform a more open-ended search towards the end of evolution.