Physically Realistic Simulators and Autonomous Humanoid Robots as Platforms for Evolution of Biped Walking Behavior using Genetic Programming

Created by W.Langdon from gp-bibliography.bib Revision:1.7630

@InProceedings{WolNor02,

• author = "Krister Wolff and Peter Nordin",
• title = "Physically Realistic Simulators and Autonomous Humanoid Robots as Platforms for Evolution of Biped Walking Behavior using Genetic Programming",
• booktitle = "Proceedings of the 6th World Multiconference on Systemics, Cybernetics and Informatics",
• year = "2002",
• editor = "Nagib Callaos and Alexander Pisarchik and Mitsuyoshi Ueda",
• volume = "VI",
• pages = "81--86",
• publisher = "IIIS",
• keywords = "genetic algorithms, genetic programming, evolutionary robotics, embodied artificial intelligence, simulation",
• ISBN = "980-07-8150-1",
• URL = "https://research.chalmers.se/en/publication/72899",
• abstract = "We introduce a novel approach to evolution of robot control programs in simulation, generalised to a real, physical robot, where the remaining step in evolution is carried out. First, we briefly describe an evolutionary programming experiment performed with our biped humanoid robot elvina, with onboard computer and sensors. By using this system, we evolved gait patterns that outperformed the previously manually developed gait. Second, the physics simulator used is presented. It is a free, industrial standard library for simulating articulated rigid body dynamics, designed for use in interactive or real-time simulation of moving objects in changeable virtual reality environments. The simulation is based on a method where the equations of motion are derived from a Lagrange multiplier velocity based model and it uses a highly stable, first order integrator. Finally, we present the Genetic Programming system used for evolution. Evolutionary algorithms mimic aspects of evolution and Darwins principle of natural selection and survival of the fittest, in order to optimise a solution towards a defined goal. The primitives of Genetic Programs are the terminals and the functions. The terminals are comprised of inputs to the program, constants or functions without arguments. The functions are composed of the statements, operators and functions available to the GP system.",

}

Genetic Programming entries for Krister Wolff Peter Nordin

Citations