Title :
Evolving robust gaits with AIBO
Author :
Hornby, G.S. ; Takamura, S. ; Yokono, J. ; Hanagata, O. ; Yamamoto, T. ; Fujita, M.
Author_Institution :
Dept. of Comput. Sci., Brandeis Univ., Waltham, MA, USA
Abstract :
An evolutionary algorithm is used to evolve gaits with the Sony entertainment robot, AIBO. All processing is handled by the robot´s on-board computer with individuals evaluated using the robot´s hardware. By sculpting the experimental environment, we increase the robustness to different surface types and different AIBOs. Evolved gaits are faster than those created by hand. Using this technique we evolve a gait used in the consumer version of AIBO
Keywords :
evolutionary computation; legged locomotion; motion control; robust control; AIBO; Sony; entertainment robot; evolutionary algorithm; evolving gait; legged locomotion; mobile robots; robustness; Consumer products; Evolutionary computation; Hardware; Prototypes; Robotics and automation; Robots; Robustness; Testing; Tiles; Watches;
Conference_Titel :
Robotics and Automation, 2000. Proceedings. ICRA '00. IEEE International Conference on
Conference_Location :
San Francisco, CA
Print_ISBN :
0-7803-5886-4
DOI :
10.1109/ROBOT.2000.846489
