Learning Biped Locomotion from First Principles on a Simulated Humanoid Robot Using Linear Genetic Programming
Created by W.Langdon from
gp-bibliography.bib Revision:1.8110
- @InProceedings{wolff:2003:gecco,
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author = "Krister Wolff and Peter Nordin",
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title = "Learning Biped Locomotion from First Principles on a
Simulated Humanoid Robot Using Linear Genetic
Programming",
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booktitle = "Genetic and Evolutionary Computation -- GECCO-2003",
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editor = "E. Cant{\'u}-Paz and J. A. Foster and K. Deb and
D. Davis and R. Roy and U.-M. O'Reilly and H.-G. Beyer and
R. Standish and G. Kendall and S. Wilson and
M. Harman and J. Wegener and D. Dasgupta and M. A. Potter and
A. C. Schultz and K. Dowsland and N. Jonoska and
J. Miller",
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year = "2003",
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pages = "495--506",
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address = "Chicago",
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publisher_address = "Berlin",
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month = "12-16 " # jul,
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volume = "2723",
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series = "LNCS",
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ISBN = "3-540-40602-6",
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publisher = "Springer-Verlag",
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keywords = "genetic algorithms, genetic programming, Evolutionary
Robotics",
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URL = "http://fy.chalmers.se/~wolff/WN_gecco03.pdf",
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DOI = "doi:10.1007/3-540-45105-6_61",
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abstract = "We describe the first instance of an approach for
control programming of humanoid robots, based on
evolution as the main adaptation mechanism. In an
attempt to overcome some of the difficulties with
evolution on real hardware, we use a physically
realistic simulation of the robot. The essential idea
in this concept is to evolve control programs from
first principles on a simulated robot, transfer the
resulting programs to the real robot and continue to
evolve on the robot. The Genetic Programming system is
implemented as a Virtual Register Machine, with 12
internal work registers and 12 external registers for
I/O operations. The individual representation scheme is
a linear genome, and the selection method is a steady
state tournament algorithm. Evolution created
controller programs that made the simulated robot
produce forward locomotion behavior. An application of
this system with two phases of evolution could be for
robots working in hazardous environments, or in
applications with remote presence robots.",
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notes = "GECCO-2003. A joint meeting of the twelfth
International Conference on Genetic Algorithms
(ICGA-2003) and the eighth Annual Genetic Programming
Conference (GP-2003)",
- }
Genetic Programming entries for
Krister Wolff
Peter Nordin
Citations