Analysis of Co-evolutionary Approach for Robotic Gait Generation

Kód výsledku v IS VaVaI

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Výsledek na webu

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DOI - Digital Object Identifier

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Jazyk výsledku

angličtina

Název v původním jazyce

Analysis of Co-evolutionary Approach for Robotic Gait Generation

Popis výsledku v původním jazyce

Recently, a new co-evolutionary approach for generating motion patterns for multi-legged robots which exhibit symmetry and module repetition was proposed. The algorithm consists of two evolutionary algorithms working in co-evolution. The first one, a genetic programming module, evolves a motion of a single leg. The second one, a genetic algorithm module, seeks for the optimal deployment of the single-leg motion pattern to all legs of the robot. Thus, the whole task is decomposed into two subtasks that are to be solid simultaneously. First proof-of-concept experiments proved such a decomposition helps to produce better solutions than a simple GP-based approach that tries to evolve individual motion patterns for all legs of the robot. This paper furtheranalyses the co-evolutionary algorithm focusing on two things ? the way it handles the problem decomposition and the type of functions it uses to control joints of the robot. The experiments carried out in this work indicate that both des

Název v anglickém jazyce

Analysis of Co-evolutionary Approach for Robotic Gait Generation

Popis výsledku anglicky

Recently, a new co-evolutionary approach for generating motion patterns for multi-legged robots which exhibit symmetry and module repetition was proposed. The algorithm consists of two evolutionary algorithms working in co-evolution. The first one, a genetic programming module, evolves a motion of a single leg. The second one, a genetic algorithm module, seeks for the optimal deployment of the single-leg motion pattern to all legs of the robot. Thus, the whole task is decomposed into two subtasks that are to be solid simultaneously. First proof-of-concept experiments proved such a decomposition helps to produce better solutions than a simple GP-based approach that tries to evolve individual motion patterns for all legs of the robot. This paper furtheranalyses the co-evolutionary algorithm focusing on two things ? the way it handles the problem decomposition and the type of functions it uses to control joints of the robot. The experiments carried out in this work indicate that both des

Druh

D - Stať ve sborníku

CEP obor

JC - Počítačový hardware a software

OECD FORD obor

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Projekt

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Návaznosti

Z - Vyzkumny zamer (s odkazem do CEZ)<br>S - Specificky vyzkum na vysokych skolach

Rok uplatnění

2013

Kód důvěrnosti údajů

S - Úplné a pravdivé údaje o projektu nepodléhají ochraně podle zvláštních právních předpisů

Název statě ve sborníku

Proceedings of the 5th International Joint Conference on Computational Intelligence

ISBN

978-989-8565-77-8

ISSN

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e-ISSN

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Počet stran výsledku

10

Strana od-do

37-46

Název nakladatele

SciTePress - Science and Technology Publications

Místo vydání

Porto

Místo konání akce

Algarve

Datum konání akce

20. 9. 2013

Typ akce podle státní příslušnosti

WRD - Celosvětová akce

Kód UT WoS článku

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