Dynamic Resolution in the Co-Evolution of Morphology and Control
Dynamic Resolution in the Co-Evolution of Morphology and Control
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发表时间：
2010
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通讯作者：
J. E. Auerbach;J. Bongard
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作者：
J. E. Auerbach;J. Bongard
进化机器人是一种很有前途的方法，可以克服人类设计者在为自主机器人制定控制策略时的限制和偏见。然而，进化机器人的大部分工作仍然仅仅关注对现有形态的优化控制策略。相比之下，自然进化是迄今为止产生智能试剂的唯一过程，可能会同时改变生物体的控制(大脑)和形态(身体)。因此，形态与控制的共同进化可能为实现智能机器人提供一条更好的途径。提出了一种基于CPPN-NEAT的协同进化形态与控制的新方法。该方法能够动态地调整创建机器人部件的分辨率：在某些身体位置可能存在大量的小尺寸部件，而在其他位置存在较少数量的较大尺寸的部件。在一个简单的任务中展示了这种能力的优势，并讨论了使用这种方法来创造更复杂的机器人的意义。
Evolutionary robotics is a promising approach to overcoming the limitations and biases of human designers in producing control strategies for autonomous robots. However, most work in evolutionary robotics remains solely concerned with optimizing control strategies for existing morphologies. By contrast, natural evolution, the only process that has produced intelligent agents to date, may modify both the control (brain) and morphology (body) of organisms. Therefore, co-evolving morphology along with control may provide a better path towards realizing intelligent robots. This paper presents a novel method for co-evolving morphology and control using CPPN-NEAT. This method is capable of dynamically adjusting the resolution at which components of the robot are created: a large number of small sized components may be present in some body locations while a smaller number of larger sized components is present in other locations. Advantages of this capability are demonstrated on a simple task, and implications for using this methodology to create more complex robots are discussed.