Studies on motion control of a modular robot using cellular automata

Authors:
Sunil Pranit Lal;Koji Yamada;Satoshi Endo
Affiliations:
Complex System Laboratory, Department of Information Engineering, Faculty of Engineering, University of the Ryukyus, Nishihara, Okinawa, Japan;Complex System Laboratory, Department of Information Engineering, Faculty of Engineering, University of the Ryukyus, Nishihara, Okinawa, Japan;Complex System Laboratory, Department of Information Engineering, Faculty of Engineering, University of the Ryukyus, Nishihara, Okinawa, Japan
Venue:
AI'06 Proceedings of the 19th Australian joint conference on Artificial Intelligence: advances in Artificial Intelligence
Year:
2006

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Abstract

In this paper we report preliminary findings of using cellular automata (CA) as an underlying architecture in controlling the motion of a five-legged brittle star typed robot. Three control models were incrementally designed making use of genetic algorithm (GA) as well as co-evolutionary algorithm in finding appropriate rules for automaton. Simulations using Open Dynamics Engine (ODE) was used to verify the rules obtained for each of the models. The indications from the results are promising in support for CA as feasible means for motion control.