ویراساینس.
سند علمی

Co-evolution of Configuration and Control for Homogenous Modular Robots

Daniel MARBACH, Auke Jan IJSPEERT

چکیده

Modular robots are well suited to implement key features of autonomous machines such as versatility, adaptability and reliability. Our vision is to tackle this task following the three major axes (phylogeny, ontogeny and epigenesis) that underlie the emergence of autonomous and self-organizing organisms in nature. This paper presents Adam, our modular robot simulation and evolution tool. Adam successfully implements the first step of our project, inspired by the phylogenetic axis. We co-evolve configuration and control of locomoting homogenous modular robots by means of genetic programming. A tree-based genotype is used, encoding the control as well as the configuration of the modules. The modular robots are evaluated in a simulator that accurately models rigid body dynamics. Furthermore, we propose a grammar for an intuitive script that allows building modular robots ‘by hand’ or inspecting and manipulating evolved individuals.

اسناد مشابه

  • Spanning Tree Partitioning Approach for Configuration Generation in Modular Robots

    سند علمی۲۰۱۵FLAIRS ConferenceAyan Dutta, Raj Dasgupta, José Baca, Carl A. Nelson

    We consider the problem of configuration generation in modular self-reconfigurable robots, where a set of modules that are in a certain configuration are required to form a new configuration while remaining within the size, battery and communication constraints. This problem is c

  • Motion of Minimal Configurations of a Modular Robot: Sinusoidal, Lateral Rolling and Lateral Shift

    سند علمی۲۰۰۵CLAWARJ. Gonzalez-Gomez, Eduardo I. Boemo

    Complex modular robots can be constructed by means of simple modules. There is no geometric superior size to the total number of modules that can be added. The number of possible configurations growth exponentially. However, an inferior limit exists: the minimum number of modules

  • Automated Design of Adaptive Controllers for Modular Robots using Reinforcement Learning

    سند علمی۲۰۰۸I. J. Robotics Res.Paulina Varshavskaya, Leslie Pack Kaelbling, Daniela Rus

    Designing distributed controllers for self-reconfiguring modular robots has been consistently challenging. We have developed a reinforcement learning approach which can be used both to automate controller design and to adapt robot behavior on-line. In this paper, we report on our

  • Fractal Gene Regulatory Networks for Robust Locomotion Control of Modular Robots

    سند علمی۲۰۱۰SABPayam Zahadat, David Johan Christensen, Ulrik Pagh Schultz, Serajeddin Katebi

    Designing controllers for modular robots is difficult due to the distributed and dynamic nature of the robots. In this paper fractal gene regulatory networks are evolved to control modular robots in a distributed way. Experiments with different morphologies of modular robot are p

  • Intelligent Control of Modular Robotic Welding Cell

    سند علمی۲۰۰۲Herschel B. Smartt, Kevin L. Kenney, Charles R. Tolle

    Although robotic machines are routinely used for welding, such machines do not normally incorporate intelligent capabilities. We are studying the general problem of formulating usable levels of intelligence into welding machines. From our perspective, an intelligent machine shoul

  • Networked Embedded Control of Modular Robot Manipulators Using VDC

    سند علمی۲۰۱۴Wen-Hong Zhu, Tom Lamarche, Erick Dupuis, Guangjun Liu

    In this paper, a networked embedded control of modular robot manipulators without using joint torque sensing is presented. The proposed solution uses an effective control and communication mechanism based on the virtual decomposition control (VDC) approach with embedded FPGA (Fie