Evolutionary motion design for humanoid robots

Authors:
Toshihiko Yanase;Hitoshi Iba
Affiliations:
The University of Tokyo, Chiba, Japan;The University of Tokyo, Chiba, Japan
Venue:
Proceedings of the 8th annual conference on Genetic and evolutionary computation
Year:
2006

Citing 2
Cited 1

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Proceedings of the 5th International Conference on Genetic Algorithms
Learning biped locomotion from first principles on a simulated humanoid robot using linear genetic programming

GECCO'03 Proceedings of the 2003 international conference on Genetic and evolutionary computation: PartI

Evolutionary behavior acquisition for humanoid robots

PPSN'06 Proceedings of the 9th international conference on Parallel Problem Solving from Nature

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Abstract

We propose a new approach to generating the motion of humanoid robots intuitively by means of Interactive Evolutionary Computation (IEC). In our system, novice users are able to design effective motions through the subjective evaluation of displayed individuals, even if they do not have any technical knowledge. The motions evolved by the IEC system are not necessarily stable nor feasible in real environments. Thus, appropriate adjustments are required to revise the motions. For this purpose, we use a real-valued GA in a dynamic simulator. We empirically show the effectiveness of our approach by designing a kick motion for a humanoid robot.