Using a co-evolutionary approach to automatically generate vertical undulation and lateral rolling motions for snake-like modular robot

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@InProceedings{Chee:2014:ROMA,

• author = "Wei Shun Chee and Jason Teo",
• booktitle = "2014 IEEE International Symposium on Robotics and Manufacturing Automation (ROMA)",
• title = "Using a co-evolutionary approach to automatically generate vertical undulation and lateral rolling motions for snake-like modular robot",
• year = "2014",
• pages = "236--241",
• abstract = "This paper explores the use of evolutionary algorithm approach to automatically design and optimise the snake-like modular robot to acquire with the vertical undulation locomotion and lateral rolling moving behaviour. A hybridized Genetic Programming and self-adaptive Differential Evolution algorithm is implemented in this work to simultaneously co-evolve both the morphology and controller of the snake-like modular robot throughout the artificial evolutionary process. This paper also illustrates on how the overall structure and control strategy of the snake-like modular robot is being designed in order for the snake-like modular robot to perform the particular locomotion. Moreover, different fitness functions had also been modelled for each locomotion experiment in computing the performance score of the snake-like modular robot. Interestingly, it was found out that the snake-like modular robot can actually travel for longer distance using vertical undulation locomotion. It was also found out that the rolling movement of the snake-like modular robot can be achieved by motors attached only in pitch and yaw axis. In conclusion, promising results were obtained in this work showing that the co-evolving evolutionary algorithm illustrated in this work is feasible to be implemented to automatically design and optimise the modular robot to evolve with various locomotion capabilities.",
• keywords = "genetic algorithms, genetic programming",
• DOI = "doi:10.1109/ROMA.2014.7295894",
• month = dec,
• notes = "Also known as \cite{7295894}",

}

Genetic Programming entries for Wei Shun Chee Jason Teo

Citations