Co-evolution of morphology and walking pattern of biped humanoid robot using evolutionary computation. Consideration of characteristic of the servomotors

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.