Genetic programming incorporating biased mutation for evolution and adaptation of Snakebot
Genetic Programming and Evolvable Machines
Co-evolution of active sensing and locomotion gaits of simulated snake-like robot
Proceedings of the 10th annual conference on Genetic and evolutionary computation
Modelling and control of obstacle-aided snake robot locomotion based on jam resolution
ICRA'09 Proceedings of the 2009 IEEE international conference on Robotics and Automation
Hybrid head mechanism of the groundhog-like mine rescue robot
Robotics and Computer-Integrated Manufacturing
Hybrid modelling and control of obstacle-aided snake robot locomotion
IEEE Transactions on Robotics
A review on modelling, implementation, and control of snake robots
Robotics and Autonomous Systems
Optimizing potential information transfer with self-referential memory
UC'06 Proceedings of the 5th international conference on Unconventional Computation
Emergent generality of adapted locomotion gaits of simulated snake-like robot
EuroGP'06 Proceedings of the 9th European conference on Genetic Programming
Evolving spatiotemporal coordination in a modular robotic system
SAB'06 Proceedings of the 9th international conference on From Animals to Animats: simulation of Adaptive Behavior
The effect of bloat on the efficiency of incremental evolution of simulated snake-like robot
EuroGP'12 Proceedings of the 15th European conference on Genetic Programming
Proceedings of the 14th annual conference on Genetic and evolutionary computation
Development of wheel-less snake robot with two distinct gaits and gait transition capability
International Journal of Automation and Computing
GP-induced and explicit bloating of the seeds in incremental GP improves evolutionary success
Genetic Programming and Evolvable Machines
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Inspired by the efficient method of locomotion of the rattlesnake Crotalus cerastes, the objective of this work is automatic design through genetic programming (GP) of the fastest possible (sidewinding) locomotion of simulated limbless, wheelless snake-like robot (Snakebot). The realism of simulation is ensured by employing the Open Dynamics Engine (ODE), which facilitates implementation of all physical forces, resulting from the actuators, joints constrains, frictions, gravity, and collisions. Reduction of the search space of the GP is achieved by representation of Snakebot as a system comprising identical morphological segments and by automatic definition of code fragments, shared among (and expressing the correlation between) the evolved dynamics of the vertical and horizontal turning angles of the actuators of Snakebot. Empirically obtained results demonstrate the emergence of sidewinding locomotion from relatively simple motion patterns of morphological segments. Robustness of the sidewinding Snakebot, which is considered to be the ability to retain its velocity when situated in an unanticipated environment, is illustrated by the ease with which Snakebot overcomes various types of obstacles such as a pile of or burial under boxes, rugged terrain, and small walls. The ability of Snakebot to adapt to partial damage by gradually improving its velocity characteristics is discussed. Discovering compensatory locomotion traits, Snakebot recovers completely from single damage and recovers a major extent of its original velocity when more significant damage is inflicted. Exploring the opportunity for automatic design and adaptation of a simulated artifact, this work could be considered as a step toward building real Snakebots, which are able to perform robustly in difficult environments.