An Evolutionary Based Approach for Control Programming of Humanoids
Created by W.Langdon from
gp-bibliography.bib Revision:1.8081
- @InProceedings{wolff:2003c,
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author = "Krister Wolff and Peter Nordin",
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title = "An Evolutionary Based Approach for Control Programming
of Humanoids",
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booktitle = "Proceedings of the 3rd International Conference on
Humanoid Robots (Humanoids'03)",
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year = "2003",
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address = "Karlsruhe, Germany",
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month = "1-2 " # oct,
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organization = "IEEE",
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publisher = "VDI/VDE-GMA",
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keywords = "genetic algorithms, genetic programming, Linear
Genetic Programming, Bipedal robots, Elvis, Autonomous
robots",
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URL = "https://research.chalmers.se/en/publication/72877",
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URL = "http://fy.chalmers.se/~wolff/WN_Humanoids03.pdf",
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size = "19 pages",
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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