Real-world evolution adapts robot morphology and control to hardware limitations
Real-world evolution adapts robot morphology and control to hardware limitations
复制标题
现实世界的进化使机器人形态和控制适应硬件限制
DOI：
10.1145/3205455.3205567
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：
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作者：
T. Nygaard;C. P. Martin;Eivind Samuelsen;J. Tørresen;K. Glette
对于机器人来说，要处理真实的世界中可能影响它们的众多因素，它们必须适应变化和意外事件。进化机器人试图通过自动优化机器人来解决其中的一些问题。然而，这一领域的大多数研究都是在软件模拟中使用机器人系统的简化表示。仿真中的性能与真实的世界之间的巨大差距使得将所得到的机器人转移到真实的世界具有挑战性。在本文中，我们应用真实的世界多目标进化优化优化控制和形态的四足哺乳动物启发的机器人。我们改变系统的电源电压，降低所有关节的可用扭矩和速度，并研究这如何影响健身，以及解决方案的形态和控制。除了证明这种现实世界的形态和控制的进化方案确实是可行的，相对较少的评价，我们表明，在不同的硬件限制下的进化结果在相当的性能为低和中等速度，搜索实现这一点，通过适应控制和机器人的形态。
For robots to handle the numerous factors that can affect them in the real world, they must adapt to changes and unexpected events. Evolutionary robotics tries to solve some of these issues by automatically optimizing a robot for a specific environment. Most of the research in this field, however, uses simplified representations of the robotic system in software simulations. The large gap between performance in simulation and the real world makes it challenging to transfer the resulting robots to the real world. In this paper, we apply real world multi-objective evolutionary optimization to optimize both control and morphology of a four-legged mammal-inspired robot. We change the supply voltage of the system, reducing the available torque and speed of all joints, and study how this affects both the fitness, as well as the morphology and control of the solutions. In addition to demonstrating that this real-world evolutionary scheme for morphology and control is indeed feasible with relatively few evaluations, we show that evolution under the different hardware limitations results in comparable performance for low and moderate speeds, and that the search achieves this by adapting both the control and the morphology of the robot.