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Evolving Hand-Eye Coordination for a Humanoid Robot with Machine Code Genetic Programming

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Book cover Genetic Programming (EuroGP 2001)

Part of the book series: Lecture Notes in Computer Science ((LNCS,volume 2038))

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Abstract

We evolve, using AIMGP machine code genetic programming, Discipulus, an approximation of the inverse kinematics of a real robotics arm with many degrees of freedom. Elvis is a bipedal robot with human-like geometry and motion capabilities a humanoid, primarily controlled by evolutionary adaptive methods. The GP system produces a useful inverse kinematic mapping, from target 3-D points (via pairs of stereo video images) to a vector of arm controller actuator set points.

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References

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Author information

Authors and Affiliations

  1. Computer Science, University College, London, Gower Street, London, WC1E 6BT, UK

    William B. Langdon

  2. Institute of Physical Resource Theory, Chalmers University of Technology, S, 412 96, Göteborg, Sweden

    Peter Nordin

Authors
  1. William B. Langdon
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  2. Peter Nordin
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Editor information

Editors and Affiliations

  1. School of Computer Science, University of Birmingham, Birmingham

    Julian Miller

  2. Computer Science Institute, University of Lausanne, Lausanne

    Marco Tomassini

  3. Dipartimento di Elettronica e Informazione, Politecnico di Milano, Italy

    Pier Luca Lanzi

  4. Computer Science and Information Systems, University of Limerick, Limerick

    Conor Ryan

  5. Dipartimento di Tecnologie dell’Informazione, Università degli Studi di Milano, Italy

    Andrea G. B. Tettamanzi

  6. Department of Computer Science, University College London, London

    William B. Langdon

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© 2001 Springer-Verlag Berlin Heidelberg

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Langdon, W.B., Nordin, P. (2001). Evolving Hand-Eye Coordination for a Humanoid Robot with Machine Code Genetic Programming. In: Miller, J., Tomassini, M., Lanzi, P.L., Ryan, C., Tettamanzi, A.G.B., Langdon, W.B. (eds) Genetic Programming. EuroGP 2001. Lecture Notes in Computer Science, vol 2038. Springer, Berlin, Heidelberg. https://doi.org/10.1007/3-540-45355-5_25

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  • DOI: https://doi.org/10.1007/3-540-45355-5_25

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  • Publisher Name: Springer, Berlin, Heidelberg

  • Print ISBN: 978-3-540-41899-3

  • Online ISBN: 978-3-540-45355-0

  • eBook Packages: Springer Book Archive

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