Evolution of Sidewinding Locomotion of Simulated Limbless, Weelless Robots

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  author =       "Ivan Tanev and Thomas Ray",
  title =        "Evolution of Sidewinding Locomotion of Simulated
                 Limbless, Weelless Robots",
  booktitle =    "Proceedings of the 9th International Symposium on
                 Artificial Life and Robotics (AROB-04)",
  year =         "2004",
  editor =       "M. Sugisaka and H. Tanaka",
  volume =       "2",
  pages =        "472--475",
  address =      "Beppu, Japan",
  month =        jan # " 28-30",
  email =        "i.tanev@computer.org",
  keywords =     "genetic algorithms, genetic programming, locomotion,
                 open dynamics engine, side-winding, snake robot",
  abstract =     "Inspired by the efficient method of locomotion of the
                 rattlesnake Crotalus cerastes, the objective of this
                 work is automatic design through genetic programming,
                 of the fastest possible (sidewinding) locomotion of
                 simulated limbless, wheelless artifacts. The realism of
                 the simulation is ensured by employing the Open
                 Dynamics Engine (ODE), which facilitates implementation
                 of all the physical forces, resulting from the
                 actuators (muscles), frictions, gravity, collisions and
                 joints constrains. The empirically obtained results
                 demonstrate that the complex side winding locomotion
                 emerges from relatively simple motion patterns of
                 morphological segments (vertebrae). The robustness of
                 automatically evolved locomotion is verified by (i)
                 minimal performance degradation when partial damage to
                 the artifact is inflicted and (ii) the ability to
                 tackle obstacles. Contributing to the better
                 understanding of side-winding locomotion, this work
                 could be considered as a step towards building real
                 limbless, wheelless robots, which feature unique
                 engineering characteristics and are able to perform
                 robustly in difficult environments.",
  notes =        "See also 2004 Artificial Life and Robotics

                 broken Nov 2015

                 see also \cite{tanev:2005:ALR3}",

Genetic Programming entries for Ivan T Tanev Thomas S Ray