Physically Realistic Simulators and Autonomous Humanoid Robots as Platforms for Evolution of Biped Walking Behavior using Genetic Programming

Created by W.Langdon from gp-bibliography.bib Revision:1.3872

@InProceedings{WolNor02,
  author =       "Krister Wolff and Peter Nordin",
  title =        "Physically Realistic Simulators and Autonomous
                 Humanoid Robots as Platforms for Evolution of Biped
                 Walking Behavior using Genetic Programming",
  booktitle =    "Proceedings of the 6th World Multiconference on
                 Systemics, Cybernetics and Informatics",
  year =         "2002",
  editor =       "Nagib Callaos and Alexander Pisarchik and 
                 Mitsuyoshi Ueda",
  volume =       "VI",
  pages =        "81--86",
  publisher =    "IIIS",
  keywords =     "genetic algorithms, genetic programming, evolutionary
                 robotics, embodied artificial intelligence,
                 simulation",
  ISBN =         "980-07-8150-1",
  abstract =     "We introduce a novel approach to evolution of robot
                 control programs in simulation, generalised to a real,
                 physical robot, where the remaining step in evolution
                 is carried out. First, we briefly describe an
                 evolutionary programming experiment performed with our
                 biped humanoid robot elvina, with onboard computer and
                 sensors. By using this system, we evolved gait patterns
                 that outperformed the previously manually developed
                 gait. Second, the physics simulator used is presented.
                 It is a free, industrial standard library for
                 simulating articulated rigid body dynamics, designed
                 for use in interactive or real-time simulation of
                 moving objects in changeable virtual reality
                 environments. The simulation is based on a method where
                 the equations of motion are derived from a Lagrange
                 multiplier velocity based model and it uses a highly
                 stable, first order integrator. Finally, we present the
                 Genetic Programming system used for evolution.
                 Evolutionary algorithms mimic aspects of evolution and
                 Darwins principle of natural selection and survival of
                 the fittest, in order to optimise a solution towards a
                 defined goal. The primitives of Genetic Programs are
                 the terminals and the functions. The terminals are
                 comprised of inputs to the program, constants or
                 functions without arguments. The functions are composed
                 of the statements, operators and functions available to
                 the GP system.",
}

Genetic Programming entries for Krister Wolff Peter Nordin

Citations