Using a co-evolutionary approach to automatically generate vertical undulation and lateral rolling motions for snake-like modular robot

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@InProceedings{Chee:2014:ROMA,
  author =       "Wei Shun Chee and Jason Teo",
  booktitle =    "2014 IEEE International Symposium on Robotics and
                 Manufacturing Automation (ROMA)",
  title =        "Using a co-evolutionary approach to automatically
                 generate vertical undulation and lateral rolling
                 motions for snake-like modular robot",
  year =         "2014",
  pages =        "236--241",
  abstract =     "This paper explores the use of evolutionary algorithm
                 approach to automatically design and optimise the
                 snake-like modular robot to acquire with the vertical
                 undulation locomotion and lateral rolling moving
                 behaviour. A hybridized Genetic Programming and
                 self-adaptive Differential Evolution algorithm is
                 implemented in this work to simultaneously co-evolve
                 both the morphology and controller of the snake-like
                 modular robot throughout the artificial evolutionary
                 process. This paper also illustrates on how the overall
                 structure and control strategy of the snake-like
                 modular robot is being designed in order for the
                 snake-like modular robot to perform the particular
                 locomotion. Moreover, different fitness functions had
                 also been modelled for each locomotion experiment in
                 computing the performance score of the snake-like
                 modular robot. Interestingly, it was found out that the
                 snake-like modular robot can actually travel for longer
                 distance using vertical undulation locomotion. It was
                 also found out that the rolling movement of the
                 snake-like modular robot can be achieved by motors
                 attached only in pitch and yaw axis. In conclusion,
                 promising results were obtained in this work showing
                 that the co-evolving evolutionary algorithm illustrated
                 in this work is feasible to be implemented to
                 automatically design and optimise the modular robot to
                 evolve with various locomotion capabilities.",
  keywords =     "genetic algorithms, genetic programming",
  DOI =          "doi:10.1109/ROMA.2014.7295894",
  month =        dec,
  notes =        "Also known as \cite{7295894}",
}

Genetic Programming entries for Wei Shun Chee Jason Teo

Citations