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,
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author = "Wei Shun Chee and Jason Teo",
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booktitle = "2014 IEEE International Symposium on Robotics and
Manufacturing Automation (ROMA)",
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title = "Using a co-evolutionary approach to automatically
generate vertical undulation and lateral rolling
motions for snake-like modular robot",
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year = "2014",
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pages = "236--241",
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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.",
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keywords = "genetic algorithms, genetic programming",
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DOI = "doi:10.1109/ROMA.2014.7295894",
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month = dec,
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notes = "Also known as \cite{7295894}",
- }
Genetic Programming entries for
Wei Shun Chee
Jason Teo
Citations