Automated Evolutionary Design, Robustness and Adaptation of Sidewinding Locomotion of Simulated Snake-like Robot

Created by W.Langdon from gp-bibliography.bib Revision:1.4192

  author =       "Ivan Tanev and Thomas Ray and Andrzej Buller",
  title =        "Automated Evolutionary Design, Robustness and
                 Adaptation of Sidewinding Locomotion of Simulated
                 Snake-like Robot",
  journal =      "IEEE Transactions on Robotics",
  year =         "2005",
  volume =       "21",
  number =       "4",
  pages =        "632--645",
  month =        aug,
  email =        "",
  keywords =     "genetic algorithms, genetic programming, Adaptation,
                 snake-like robot, robustness",
  DOI =          "doi:10.1109/TRO.2005.851028",
  size =         "14 pages",
  abstract =     "Inspired by the efficient method of locomotion of the
                 rattlesnake Crotalus cerastes, the objective of this
                 work is automatic design through genetic programming
                 (GP) of the fastest possible (sidewinding) locomotion
                 of simulated limbless, wheel-less snake-like robot
                 (Snakebot). The realism of simulation is ensured by
                 employing the Open Dynamics Engine (ODE), which
                 facilitates implementation of all physical forces,
                 resulting from the actuators, joints constrains,
                 frictions, gravity, and collisions. Reduction of the
                 search space of the GP is achieved by representation of
                 Snakebot as a system comprising identical morphological
                 segments and by automatic definition of code fragments,
                 shared among (and expressing the correlation between)
                 the evolved dynamics of the vertical and horizontal
                 turning angles of the actuators of Snakebot.
                 Empirically obtained results demonstrate the emergence
                 of sidewinding locomotion from relatively simple motion
                 patterns of morphological segments. Robustness of the
                 sidewinding Snakebot, which is considered to be the
                 ability to retain its velocity when situated in an
                 unanticipated environment, is illustrated by the ease
                 with which Snakebot overcomes various types of
                 obstacles such as a pile of or burial under boxes,
                 rugged terrain, and small walls. The ability of
                 Snakebot to adapt to partial damage by gradually
                 improving its velocity characteristics is discussed.
                 Discovering compensatory locomotion traits, Snakebot
                 recovers completely from single damage and recovers a
                 major extent of its original velocity when more
                 significant damage is inflicted. Exploring the
                 opportunity for automatic design and adaptation of a
                 simulated artifact, this work could be considered as a
                 step toward building real Snakebots, which are able to
                 perform robustly in difficult environments.",

Genetic Programming entries for Ivan T Tanev Thomas S Ray Andrzej Buller