Co-evolution of morphology and walking pattern of biped humanoid robot using evolutionary computation. Consideration of characteristic of the servomotors
Co-evolution of morphology and walking pattern of biped humanoid robot using evolutionary computation. Consideration of characteristic of the servomotors
复制标题
使用进化计算的双足人形机器人形态和行走模式的协同进化。
DOI：
10.1109/irds.2002.1041674
复制
发表时间：
2002
期刊：
影响因子：
--
通讯作者：
H. Kitano
中科院分区：
文献类型：
--
作者：
K. Endo;T. Maeno;H. Kitano
本文提出了一种双足类人机器人形态和控制器的协同进化方法。目前，双足步行类人机器人都是在试错的基础上手工设计的。因此，工程师必须为先验设计的形态设计控制程序，这两种方法在大的设计空间内都不是最优的。我们提出了共同进化形态学和控制器的进化方法。在精密动力学模拟器中实现了两步协同进化。一种是利用简单的多连杆模型求出连杆的最优长度，另一种是求出无线电控制汽车常用的伺服电机的最优几何形状。最后，发现了意想不到的最优解。这表明基于进化的方法可以自动完成复杂的双足类人机器人设计任务，从而可以快速设计出各种类型的类人机器人。
In this paper, we present a method for co-evolving morphology and controller of bi-ped humanoid robots. Currently, bi-ped walking humanoid robots are designed manually on trial-and-error basis. Thus, engineers have to design control program for apriori designed morphology, neither of them shown to be optimal within a large design space. We propose evolutionary approach that co-evolves the morphology and controller. Two steps of co-evolutions were achieved in a precision dynamics simulator. One is for obtaining the optimal lengths of links using simple multi-link model and the other is for obtaining the optimal geometry of servomotor which is often used for radio control car. Finally, unexpected optimal solutions were discovered. This indicates that a complex design task of biped humanoid can be performed automatically using evolution-based approach, thus varieties of humanoid robots can be designed in speedy manner.