SIGGRAPH '94 Proceedings of the 21st annual conference on Computer graphics and interactive techniques
Evolutionary design of morphology and intelligence in robotic system using genetic programming
Proceedings of the fifth international conference on simulation of adaptive behavior on From animals to animats 5
Two-armed bipedal robot that can walk, roll over and stand up
IROS '95 Proceedings of the International Conference on Intelligent Robots and Systems-Volume 3 - Volume 3
Evolving 3d morphology and behavior by competition
Artificial Life
Sensorimotor Control of Biped Locomotion
Adaptive Behavior - Animals, Animats, Software Agents, Robots, Adaptive Systems
Parallel stochastic optimization for humanoid locomotion based on neural rhythm generator
KES'05 Proceedings of the 9th international conference on Knowledge-Based Intelligent Information and Engineering Systems - Volume Part IV
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In this paper, a method for co-evolving morphology and controller of bi-ped humanoid robots is proposed. Currently, structure and walking pattern of humanoid robots are designed manually on trial-and-error basis. Although certain control theory exists, for example zero moment point (ZMP) compensation, these theories do not constrain structure of humanoid robot or detailed control. Thus, engineers has to design control program for apriori designed morphology, neither of them shown to be optimal within a large design space. Therefore, evolutionary approaches that enables co-evolution of morphology and control can be useful for designing the humanoid robot. Co-evolution was achieved in a precision dynamics simulator, and discovered unexpected optimal solutions. This indicate that a complex design task of bi-ped humanoid can be performed automatically using evolution-based approach, thus varieties of humanoid robots can be design in speedy manner. This is a major importance to the emerging robotics industries.