Evolving Hand-Eye Coordination for a Humanoid Robot with Machine Code Genetic Programming

Authors:
William B. Langdon;Peter Nordin
Affiliations:
-;-
Venue:
EuroGP '01 Proceedings of the 4th European Conference on Genetic Programming
Year:
2001

Citing 6
Cited 4

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Abstract

We evolve, using AIMGP machine code genetic programming, Discipulus, an approximation of the inverse kinematics of a real robotics arm with many degrees of freedom. Elvis is a bipedal robot with human-like geometry and motion capabilities -- a humanoid, primarily controlled by evolutionary adaptive methods. The GP system produces a useful inverse kinematic mapping, from target 3-D points (via pairs of stereo video images) to a vector of arm controller actuator set points.