An Evolutionary Based Approach for Control Programming of Humanoids

Created by W.Langdon from gp-bibliography.bib Revision:1.7615

@InProceedings{wolff:2003c,

• author = "Krister Wolff and Peter Nordin",
• title = "An Evolutionary Based Approach for Control Programming of Humanoids",
• booktitle = "Proceedings of the 3rd International Conference on Humanoid Robots (Humanoids'03)",
• year = "2003",
• address = "Karlsruhe, Germany",
• month = "1-2 " # oct,
• organization = "IEEE",
• publisher = "VDI/VDE-GMA",
• keywords = "genetic algorithms, genetic programming, Linear Genetic Programming, Bipedal robots, Elvis, Autonomous robots",
• URL = "https://research.chalmers.se/en/publication/72877",
• URL = "http://fy.chalmers.se/~wolff/WN_Humanoids03.pdf",
• size = "19 pages",
• abstract = "We describe the first instance of a novel approach for control programming of humanoid robots, based on evolution. To overcome some of the difficulties with evolution on real hardware, we use a physically realistic simulation of the robot. The essential idea is to evolve control programs from first principles on a simulated robot, transfer the programs to the real robot, and continue to evolve on the robot. As the key motivation for using simulators, we describe an on-line learning experiment with a humanoid robot. The Genetic Programming system is implemented as a Virtual Register Machine, with a linear genome, and steady state tournament selection. Evolution created controller programs that made the simulated robot produce forward locomotion behaviour. A further application of this system, with two phases of evolution, would be to have a flexible adaptation mechanism that can react to hardware failures in the robot.",

}

Genetic Programming entries for Krister Wolff Peter Nordin

Citations