The original paper is in English. Non-English content has been machine-translated and may contain typographical errors or mistranslations. ex. Some numerals are expressed as "XNUMX".
Copyrights notice
The original paper is in English. Non-English content has been machine-translated and may contain typographical errors or mistranslations. Copyrights notice
Membina robot secara amnya dianggap sukar, kerana pereka bukan sahaja perlu meramalkan interaksi antara robot dan persekitaran, tetapi juga perlu menangani masalah yang timbul. Dalam beberapa tahun kebelakangan ini, algoritma evolusi telah dicadangkan untuk mensintesis pengawal robot. Walau bagaimanapun, diakui, ia tidak cukup memuaskan hanya untuk mengembangkan sistem kawalan, kerana prestasi sistem kawalan bergantung pada parameter perkakasan lain -- pelan badan robot -- yang mungkin termasuk saiz badan, jejari roda, pemalar masa motor, dsb. Oleh itu, pelan badan robot itu sendiri, secara idealnya, juga harus menyesuaikan diri dengan tugas yang dijangka dicapai oleh robot yang telah berkembang. Dalam kertas kerja ini, rangka kerja GP/GA hibrid dibentangkan untuk mengembangkan sistem robot yang lengkap, termasuk pengawal dan badan, untuk mencapai tugas khusus kecergasan. Untuk menilai prestasi sistem yang dibangunkan, kami menggunakannya dengan pelan badan robot tetap untuk mengembangkan pengawal untuk pelbagai tugas pada mulanya, kemudian untuk mengembangkan sistem robot yang lengkap. Keputusan percubaan menunjukkan janji sistem kami.
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Salinan
Wei-Po LEE, "Evolving Autonomous Robot: From Controller to Morphology" in IEICE TRANSACTIONS on Information,
vol. E83-D, no. 2, pp. 200-210, February 2000, doi: .
Abstract: Building robots is generally considered difficult, because the designer not only has to predict the interactions between the robot and the environment, but also has to deal with the consequent problems. In recent years, evolutionary algorithms have been proposed to synthesize robot controllers. However, admittedly, it is not satisfactory enough just to evolve the control system, because the performance of the control system depends on other hardware parameters -- the robot body plan -- which might include body size, wheel radius, motor time constant, etc. Therefore, the robot body plan itself should, ideally, also adapt to the task that the evolved robot is expected to accomplish. In this paper, a hybrid GP/GA framework is presented to evolve complete robot systems, including controllers and bodies, to achieve fitness-specified tasks. In order to assess the performance of the developed system, we use it with a fixed robot body plan to evolve controllers for a variety of tasks at first, then to evolve complete robot systems. Experimental results show the promise of our system.
URL: https://global.ieice.org/en_transactions/information/10.1587/e83-d_2_200/_p
Salinan
@ARTICLE{e83-d_2_200,
author={Wei-Po LEE, },
journal={IEICE TRANSACTIONS on Information},
title={Evolving Autonomous Robot: From Controller to Morphology},
year={2000},
volume={E83-D},
number={2},
pages={200-210},
abstract={Building robots is generally considered difficult, because the designer not only has to predict the interactions between the robot and the environment, but also has to deal with the consequent problems. In recent years, evolutionary algorithms have been proposed to synthesize robot controllers. However, admittedly, it is not satisfactory enough just to evolve the control system, because the performance of the control system depends on other hardware parameters -- the robot body plan -- which might include body size, wheel radius, motor time constant, etc. Therefore, the robot body plan itself should, ideally, also adapt to the task that the evolved robot is expected to accomplish. In this paper, a hybrid GP/GA framework is presented to evolve complete robot systems, including controllers and bodies, to achieve fitness-specified tasks. In order to assess the performance of the developed system, we use it with a fixed robot body plan to evolve controllers for a variety of tasks at first, then to evolve complete robot systems. Experimental results show the promise of our system.},
keywords={},
doi={},
ISSN={},
month={February},}
Salinan
TY - JOUR
TI - Evolving Autonomous Robot: From Controller to Morphology
T2 - IEICE TRANSACTIONS on Information
SP - 200
EP - 210
AU - Wei-Po LEE
PY - 2000
DO -
JO - IEICE TRANSACTIONS on Information
SN -
VL - E83-D
IS - 2
JA - IEICE TRANSACTIONS on Information
Y1 - February 2000
AB - Building robots is generally considered difficult, because the designer not only has to predict the interactions between the robot and the environment, but also has to deal with the consequent problems. In recent years, evolutionary algorithms have been proposed to synthesize robot controllers. However, admittedly, it is not satisfactory enough just to evolve the control system, because the performance of the control system depends on other hardware parameters -- the robot body plan -- which might include body size, wheel radius, motor time constant, etc. Therefore, the robot body plan itself should, ideally, also adapt to the task that the evolved robot is expected to accomplish. In this paper, a hybrid GP/GA framework is presented to evolve complete robot systems, including controllers and bodies, to achieve fitness-specified tasks. In order to assess the performance of the developed system, we use it with a fixed robot body plan to evolve controllers for a variety of tasks at first, then to evolve complete robot systems. Experimental results show the promise of our system.
ER -