Evolvable Robot Hardware
Evolvable Robot Hardware
复制标题
可进化的机器人硬件
DOI：
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发表时间：
2015
期刊：
影响因子：
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通讯作者：
J. Timmis
中科院分区：
文献类型：
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作者：
A. Winfield;J. Timmis
进化机器人的理论和实践已经很成熟（Nolfi和Floreano，2000）。然而，到目前为止，进化机器人学的绝大多数工作都与进化机器人的控制系统有关。机器人的控制系统通常完全用软件表示：它可以是一个程序，也可以是人工神经网络（ANN）中的权重。然后，机器人从其基因组的实例化通常只需要将由基因组编码的控制程序上传到固定的机器人硬件中，准备好进行适应度评估。这并不是要贬低进化机器人所面临的困难挑战，而是要指出，除了极少数值得注意的例外，传统的实践已经避免了进化机器人身体的更大挑战。
The theory and practice of evolutionary robotics is well established (Nolfi and Floreano, 2000). However, the overwhelming majority of work in evolutionary robotics has, to date, been concerned with evolving a robot’s control system. The robot’s control system is normally expressed entirely in software: it may be a program, or weights in an artificial neural network (ANN). Then the instantiation of a robot from its genome typically requires only that the control program coded by the genome is uploaded into the fixed robot hardware, ready for fitness evaluation. This is not to belittle the difficult challenges of evolutionary robotics, but to point out that conventional practice has, with a very small number of notable exceptions, avoided the altogether greater challenge of evolving a robot’s physical body.