Evolving the morphology of a compound eye on a robot

Author

Lichtensteiger, Lukas ; Eggenberger, Peter

Author_Institution

Dept. of Comput. Sci., Zurich Univ., Switzerland

fYear

1999

fDate

6/21/1905 12:00:00 AM

Firstpage

127

Lastpage

134

Abstract

Reports on an experiment in evolving the morphology of an artificial compound eye with 16 light sensors on a robot. A special robot was designed and constructed that is able to autonomously modify the angular positions of the individual light sensors within the compound eye. The task of the robot was to employ motion parallax to estimate a critical distance to obstacles. This task was achieved by adapting the morphology of the compound eye by an evolutionary algorithm while using a fixed neural network to control the robot

Keywords

adaptive control; collision avoidance; evolutionary computation; image processing equipment; image sensors; neurocontrollers; photodetectors; robot vision; shape control; compound eye morphology evolution; critical distance estimation; evolutionary algorithm; eye morphology adaptation; fixed neural network; light sensor angular position modification; motion parallax; obstacles; robot vision; Automatic control; Computer science; Morphology; Motion estimation; Neural networks; Parallel robots; Robot sensing systems; Robotics and automation; Shape control; Software engineering;

fLanguage

English

Publisher

ieee

Conference_Titel

Advanced Mobile Robots, 1999. (Eurobot '99) 1999 Third European Workshop on

Conference_Location

Zurich

Print_ISBN

0-7803-5672-1

Type

conf

DOI

10.1109/EURBOT.1999.827631

Filename

827631