Co-evolution of Sensing Morphology and Locomotion Control of Simulated Snakebot
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- @InProceedings{Tanev:2008:SICE,
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author = "Ivan Tanev and Katsunori Shimohara",
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title = "Co-evolution of Sensing Morphology and Locomotion
Control of Simulated Snakebot",
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booktitle = "Proceedings of the Annual Conference of the Society of
Instrument and Control Engineers of Japan (SICE)",
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year = "2008",
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pages = "1502--1505",
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month = "20-22 " # aug,
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organization = "The University of Electro-Communications, Chofu,
Japan",
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keywords = "genetic algorithms, genetic programming, Automatic
control, Legged locomotion, Medical robotics, Mobile
robots, Morphology, Optimal control, Robot sensing
systems, Robotics and automation, Robustness, Sensor
phenomena and characterisation, evolutionary
computation, legged locomotion, mathematical
morphology, optimisation, path planning, sensors,
steering systems, automated sensing morphology
co-evolution, contact less wall-following navigation,
differential steering, evolutionary optimised sensor,
simulated snakebot locomotion gait control, snake-like
robot, Snakebot, locomotion active sensing, simulated
evolution",
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DOI = "doi:10.1109/SICE.2008.4654897",
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size = "4 pages",
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abstract = "We propose an approach of automated co-evolution of
the optimal values of attributes of active sensing
(orientation, range and timing of activation of
sensors) and the control of locomotion gaits of
simulated snake-like robot (Snakebot) that result in a
fast speed of locomotion in a confined environment. The
experimental results illustrate the emergence of a
contactless wall-following navigation of fast
sidewinding Snakebots. The wall-following is
accomplished by means of differential steering,
facilitated by the evolutionary defined control
sequences incorporating the readings of evolutionary
optimized sensors.",
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notes = "Also known as \cite{4654897}",
- }
Genetic Programming entries for
Ivan T Tanev
Katsunori Shimohara
Citations