Locomotion Gait Optimization For Modular Robots; Coevolving Morphology and Control

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Date

2011-01-01

Author

Pouya, Soha
Aydın Göl, Ebru
Moeckel, Rico
Ijspeert, Auke Jan

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This work is licensed under a Creative Commons Attribution-NonCommercial-NoDerivatives 4.0 International License.

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This study aims at providing a control-learning framework capable of generating optimal locomotion patterns for the modular robots. The key ideas are firstly to provide a generic control structure that can be well-adapted for the different morphologies and secondly to exploit and coevolve both morphology and control aspects. A generic framework combining robot morphology, control and environment and on the top of them optimization and evolutionary algorithms are presented. The details of the components and some of the preliminary results are discussed. (C) Selection and peer-review under responsibility of FET11 conference organizers and published by Elsevier B.V.

Subject Keywords

Robotics locomotion, Modular robotics, CPG-based control, Evolutionary algorithms

URI

https://hdl.handle.net/11511/94075

DOI

https://doi.org/10.1016/j.procs.2011.09.084

Conference Name

2nd European Future Technologies Conference and Exhibition (FET)

Collections

Department of Computer Engineering, Conference / Seminar

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Citation Formats

S. Pouya, E. Aydın Göl, R. Moeckel, and A. J. Ijspeert, “Locomotion Gait Optimization For Modular Robots; Coevolving Morphology and Control,” Budapest, Macaristan, 2011, vol. 7, Accessed: 00, 2021. [Online]. Available: https://hdl.handle.net/11511/94075.