Emergent Motion Characteristics of a Modular Robot through Genetic Algorithm

Authors:
Sunil Pranit Lal;Koji Yamada;Satoshi Endo
Affiliations:
Complex Systems Laboratory, Department of Information Engineering, Faculty of Engineering, University of the Ryukyus, Nishihara, Japan 903-0213;Complex Systems Laboratory, Department of Information Engineering, Faculty of Engineering, University of the Ryukyus, Nishihara, Japan 903-0213;Complex Systems Laboratory, Department of Information Engineering, Faculty of Engineering, University of the Ryukyus, Nishihara, Japan 903-0213
Venue:
ICIC '08 Proceedings of the 4th international conference on Intelligent Computing: Advanced Intelligent Computing Theories and Applications - with Aspects of Artificial Intelligence
Year:
2008

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Abstract

In this paper we present an approach to transform individual behaviour of homogenous sub-systems to yield desired global behaviour of the overall system. As a test bed we consider the brittle star robot as the system which is composed of homogenous modules (sub-systems). Using genetic algorithm, the rotational motion of the individual modules is translated into rectilinear motion of the robot. We argue that given a set of sub-system level behaviours, it is better to discover intermediate system level infinitesimal behaviours as a stepping stone to developing desired system level global behaviour.