Further explorations in evolutionary humanoid robotics |
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Authors: | Malachy Eaton |
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Affiliation: | (1) Department of Computer Science and Information Systems, College of Science and Engineering, University of Limerick, Limerick, Ireland |
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Abstract: | The field of evolutionary humanoid robotics is a branch of evolutionary robotics specifically dealing with the application
of evolutionary principles to humanoid robot design. Previous studies demonstrated the possible future potential of this approach
by evolving walking behaviors for simulated humanoid robots with up to 20 degrees of freedom. In this paper we examine further
the evolutionary process by looking at the changes in diversity over time. We then investigate the effect of the immobilization
of an individual joint or joints in the robot. The latter study may be of potential future use in prosthetic design. We also
explore the possibility of the evolution of humanoid robots which can cope with different environmental conditions. These
include reduced ground friction (ice) and modified gravitation (moon walking). We present initial results on the implementation
of our simulated humanoid robots in hardware using the Bioloid robotic platform, using a model of this robot in order to evolve
the desired motion patterns, for subsequent transfer to the real robot. We finish the article with a summary and brief discussion
of future work.
This work was presented in part at the 12th International Symposium on Artificial Life and Robotics, Oita, Japan, January
25–27, 2007 |
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Keywords: | Evolutionary computation Humanoid robotics |
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