A nervous system model for direct dynamics animation control based on evolutionary computation

Authors:
Yuri Lenon B. Nogueira;Creto Augusto Vidal;J. B. Cavalcante-Neto
Affiliations:
Federal University of Ceará, Fortaleza, CE, Brazil;Federal University of Ceará, Fortaleza, CE, Brazil;Federal University of Ceará, Fortaleza, CE, Brazil
Venue:
Proceedings of the 2008 ACM symposium on Applied computing
Year:
2008

Citing 5
Cited 0

Evolving virtual creatures

SIGGRAPH '94 Proceedings of the 21st annual conference on Computer graphics and interactive techniques
Genetic programming: a paradigm for genetically breeding populations of computer programs to solve problems

Genetic programming: a paradigm for genetically breeding populations of computer programs to solve problems
Learning biped locomotion from first principles on a simulated humanoid robot using linear genetic programming

GECCO'03 Proceedings of the 2003 international conference on Genetic and evolutionary computation: PartI
Evolution of the CPG with sensory feedback for bipedal locomotion

ICNC'05 Proceedings of the First international conference on Advances in Natural Computation - Volume Part II
Evolution of central pattern generators for bipedal walking in areal-time physics environment

IEEE Transactions on Evolutionary Computation

Quantified Score

Hi-index	0.01

Visualization

Abstract

In this paper, we approach the relevant problem of controlling locomotion of articulated figures taking Physics into account. The model proposed in this work determines the forces that actuate the articulated figure in order to obtain a desired locomotion goal. The controller developed for that purpose is based on some of the works on control of neuro-musculoskeletal representations of articulated figures and on neural oscillators encountered in the literature. Our model, however, takes a more generic approach using evolutionary computation and is capable of automatically generating motion gaits while maintaining stability independently of the environment and of the controlled articulated figure. The limitations of the proposed controller are also discussed.