EDHMoR: Evolutionary designer of heterogeneous modular robots
EDHMoR: Evolutionary designer of heterogeneous modular robots
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DOI：
10.1016/j.engappai.2013.09.009
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发表时间：
2013-11-01
影响因子：
8
通讯作者：
Duro, Richard J.
中科院分区：
文献类型：
--
作者：
Faina, Andres;Bellas, Francisco;Duro, Richard J.
本文致力于自动设计可行的和可制造的机器人由异构模块的问题。具体而言，机器人的形态和控制的协同进化进行了分析，并考虑到一个特定的策略来解决这个问题。为此，这种方法的主要问题，如编码，评估或转移到现实中进行了研究，通过使用异构模块化结构与分布式控制。我们还提出了一个建设性的进化算法的基础上，树状表示的形态，可以本质上提供一种生成进化的方法。该算法引入了一些新的元素来平滑搜索空间，使寻找解决方案变得更加容易。对个体的评估在模拟中进行，然后转移到由所考虑的模块组装的真实的机器人。为此，在传统的进化机器人学的经典作者提出的原则，脑-体进化的模拟应该如何设置，以便获得强大的行为，可以转移到现实中的扩展被认为是在这里。所有这些问题都是通过一个进化设计系统EDHMoR（异构模块化机器人进化设计师），其中包含在这个过程中涉及的所有元素进行分析。为了显示与这项工作已经提取的结论的实际证据，在模块化机器人的两个基准问题被认为是和EDHMoR测试。第一个侧重于解决机器人线性运动使命，第二个侧重于解决机器人不需要位移的静态任务。(C)2013爱思唯尔有限公司保留所有权利。
This paper is devoted to the problem of automatically designing feasible and manufacturable robots made up of heterogeneous modules. Specifically, the coevolution of morphology and control in robots is analyzed and a particular strategy to address this problem is contemplated. To this end, the main issues of this approach such as encoding, evaluation or transfer to reality are studied through the use of heterogeneous modular structures with distributed control. We also propose a constructive evolutionary algorithm based on tree-like representations of the morphology that can intrinsically provide for a type of generative evolutionary approach. The algorithm introduces some new elements to smooth the search space and make finding solutions much easier. The evaluation of the individuals is carried out in simulations and then transferred to real robots assembled from the modules considered. To this end, the extension of the principles proposed by classical authors in traditional evolutionary robotics to brain-body evolution regarding how simulations should be set up so that robust behaviors that can be transferred to reality are obtained is considered here. All these issues are analyzed by means of an evolutionary design system called EDHMoR (Evolutionary Designer of Heterogeneous Modular Robots) that contains all the elements involved in this process. To show practical evidences of the conclusions that have been extracted with this work, two benchmark problems in modular robotics are considered and EDHMoR is tested over them. The first one is focused on solving a linear robot motion mission and the second one on a static task of the robot that does not require displacements. (C) 2013 Elsevier Ltd. All rights reserved.