Directed locomotion for modular robots with evolvable morphologies

Gongjin Lan*, Milan Jelisavcic, Diederik M. Roijers, Evert Haasdijk, A. E. Eiben

*Corresponding author for this work

Research output: Chapter in Book / Report / Conference proceedingChapterAcademicpeer-review

Abstract

Morphologically evolving robot systems need to include a learning period right after ‘birth’ to acquire a controller that fits the newly created body. In this paper, we investigate learning one skill in particular: walking in a given direction. To this end, we apply the HyperNEAT algorithm guided by a fitness function that balances the distance travelled in a direction and the deviation between the desired and the actually travelled directions. We validate this method on a variety of modular robots with different shapes and sizes and observe that the best controllers produce trajectories that accurately follow the correct direction and reach a considerable distance in the given test interval.

Original languageEnglish
Title of host publicationParallel Problem Solving from Nature – PPSN XV
Subtitle of host publication15th International Conference, 2018, Proceedings
EditorsCarlos M. Fonseca, Nuno Lourenco, Penousal Machado, Luis Paquete, Darrell Whitley, Anne Auger
PublisherSpringer/Verlag
Pages476-487
Number of pages12
Volume1
ISBN (Electronic)9783319992532
ISBN (Print)9783319992525
DOIs
Publication statusPublished - 2018
Event15th International Conference on Parallel Problem Solving from Nature, PPSN 2018 - Coimbra, Portugal
Duration: 8 Sep 201812 Sep 2018

Publication series

NameLecture Notes in Computer Science (including subseries Lecture Notes in Artificial Intelligence and Lecture Notes in Bioinformatics)
Volume11101 LNCS
ISSN (Print)0302-9743
ISSN (Electronic)1611-3349

Conference

Conference15th International Conference on Parallel Problem Solving from Nature, PPSN 2018
CountryPortugal
CityCoimbra
Period8/09/1812/09/18

Keywords

  • Evolutionary robotics
  • Evolvable morphologies
  • Modular robots
  • Gait learning
  • Directed locomotion

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  • Cite this

    Lan, G., Jelisavcic, M., Roijers, D. M., Haasdijk, E., & Eiben, A. E. (2018). Directed locomotion for modular robots with evolvable morphologies. In C. M. Fonseca, N. Lourenco, P. Machado, L. Paquete, D. Whitley, & A. Auger (Eds.), Parallel Problem Solving from Nature – PPSN XV: 15th International Conference, 2018, Proceedings (Vol. 1, pp. 476-487). (Lecture Notes in Computer Science (including subseries Lecture Notes in Artificial Intelligence and Lecture Notes in Bioinformatics); Vol. 11101 LNCS). Springer/Verlag. https://doi.org/10.1007/978-3-319-99253-2_38