Evolution of Efficient Gait with an Autonomous Biped Robot Using Visual Feedback

نویسندگان

  • Krister Wolff
  • Peter Nordin
چکیده

We have developed an autonomous, walking humanoid robot ’elvina’ and performed experiments in evolutionary programming with it, in order to optimize a by hand developed locomotion controller. A steady state evolutionary strategy is running on the robot’s onboard computer. Individuals are evaluated and fitness scores are automatically determined using the robots onboard vision system and sensors. By using this system, we evolve gait patterns that locomote the robot in a straighter path and in a more robust way than the previously manually developed gait did.

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تاریخ انتشار 2001