Evolution of Sidewinding Locomotion of Simulated Limbless, Weelless Robots

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

@InProceedings{tanev:2004:arob2,

• author = "Ivan Tanev and Thomas Ray",
• title = "Evolution of Sidewinding Locomotion of Simulated Limbless, Weelless Robots",
• booktitle = "Proceedings of the 9th International Symposium on Artificial Life and Robotics (AROB-04)",
• year = "2004",
• editor = "M. Sugisaka and H. Tanaka",
• volume = "2",
• pages = "472--475",
• address = "Beppu, Japan",
• month = jan # " 28-30",
• email = "i.tanev@computer.org",
• keywords = "genetic algorithms, genetic programming, locomotion, open dynamics engine, side-winding, snake robot",
• abstract = "Inspired by the efficient method of locomotion of the rattlesnake Crotalus cerastes, the objective of this work is automatic design through genetic programming, of the fastest possible (sidewinding) locomotion of simulated limbless, wheelless artifacts. The realism of the simulation is ensured by employing the Open Dynamics Engine (ODE), which facilitates implementation of all the physical forces, resulting from the actuators (muscles), frictions, gravity, collisions and joints constrains. The empirically obtained results demonstrate that the complex side winding locomotion emerges from relatively simple motion patterns of morphological segments (vertebrae). The robustness of automatically evolved locomotion is verified by (i) minimal performance degradation when partial damage to the artifact is inflicted and (ii) the ability to tackle obstacles. Contributing to the better understanding of side-winding locomotion, this work could be considered as a step towards building real limbless, wheelless robots, which feature unique engineering characteristics and are able to perform robustly in difficult environments.",
• notes = "See also 2004 Artificial Life and Robotics Volume9(3)

  broken Nov 2015 http://isarob.org/index.php?main_page=journal_arob09

  see also \cite{tanev:2005:ALR3}",

}

Genetic Programming entries for Ivan T Tanev Thomas S Ray

Citations