Automated Evolutionary Design, Robustness and Adaptation of Sidewinding Locomotion of Simulated Snake-like Robot
Created by W.Langdon from
gp-bibliography.bib Revision:1.8081
- @Article{tanev:2005:TR,
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author = "Ivan Tanev and Thomas Ray and Andrzej Buller",
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title = "Automated Evolutionary Design, Robustness and
Adaptation of Sidewinding Locomotion of Simulated
Snake-like Robot",
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journal = "IEEE Transactions on Robotics",
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year = "2005",
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volume = "21",
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number = "4",
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pages = "632--645",
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month = aug,
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email = "i_tanev@atr.jp",
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keywords = "genetic algorithms, genetic programming, Adaptation,
snake-like robot, robustness",
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DOI = "doi:10.1109/TRO.2005.851028",
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size = "14 pages",
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abstract = "Inspired by the efficient method of locomotion of the
rattlesnake Crotalus cerastes, the objective of this
work is automatic design through genetic programming
(GP) of the fastest possible (sidewinding) locomotion
of simulated limbless, wheel-less snake-like robot
(Snakebot). The realism of simulation is ensured by
employing the Open Dynamics Engine (ODE), which
facilitates implementation of all physical forces,
resulting from the actuators, joints constrains,
frictions, gravity, and collisions. Reduction of the
search space of the GP is achieved by representation of
Snakebot as a system comprising identical morphological
segments and by automatic definition of code fragments,
shared among (and expressing the correlation between)
the evolved dynamics of the vertical and horizontal
turning angles of the actuators of Snakebot.
Empirically obtained results demonstrate the emergence
of sidewinding locomotion from relatively simple motion
patterns of morphological segments. Robustness of the
sidewinding Snakebot, which is considered to be the
ability to retain its velocity when situated in an
unanticipated environment, is illustrated by the ease
with which Snakebot overcomes various types of
obstacles such as a pile of or burial under boxes,
rugged terrain, and small walls. The ability of
Snakebot to adapt to partial damage by gradually
improving its velocity characteristics is discussed.
Discovering compensatory locomotion traits, Snakebot
recovers completely from single damage and recovers a
major extent of its original velocity when more
significant damage is inflicted. Exploring the
opportunity for automatic design and adaptation of a
simulated artifact, this work could be considered as a
step toward building real Snakebots, which are able to
perform robustly in difficult environments.",
- }
Genetic Programming entries for
Ivan T Tanev
Thomas S Ray
Andrzej Buller
Citations