Exploring the Analogy in the Emergent Properties of Locomotion Gaits of Snakebot Adapted to Challenging Terrain and Partial Damage

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

@Article{tanev:2006:ISCIE,
  author =       "Ivan Tanev and Thomas Ray and Katsunori Shimohara",
  title =        "Exploring the Analogy in the Emergent Properties of
                 Locomotion Gaits of Snakebot Adapted to Challenging
                 Terrain and Partial Damage",
  journal =      "Transactions of the Institute of Systems, Control and
                 Information Engineers",
  year =         "2006",
  volume =       "19",
  number =       "6",
  pages =        "220--232",
  month =        jun,
  address =      "Japan",
  keywords =     "genetic algorithms, genetic programming, emergence,
                 snakebot, evolution, adaptation",
  URL =          "http://www.iscie.or.jp/e/?Transactions%20of%20ISCIE%2C%20Vol.%2019",
  DOI =          "doi:10.5687/iscie.19.220",
  size =         "13 pages",
  abstract =     "The objective of this work is to investigate the
                 emergent properties of the gaits of the simulated
                 snake-like robot, Snakebot. The gaits are automatically
                 designed through Genetic Programming (GP) to be robust,
                 general, adaptive, and the fastest possible
                 sidewinding, locomotion. Considering the notion of
                 emergent intelligence as the ability of Snakebot to
                 achieve its goals (of moving fast) without the need to
                 be explicitly taught how to do so, we present empirical
                 results demonstrating the emergence of sidewinding
                 locomotion from relatively simple motion patterns of
                 morphological segments of Snakebot. We discuss the
                 emergent properties of the evolved robust high velocity
                 sidewinding locomotion gaits of Snakebot when situated
                 in challenging environments. Then we elaborate on the
                 ability of Snakebot to adapt to partial damage by
                 gradually improving its velocity characteristics, and
                 the emergent properties of obtained adaptive gaits.
                 Verifying the practical implications of the analogy
                 between the emergent properties of the robust and the
                 adaptive sidewinding gaits, this work could be viewed
                 as a step towards building real Snakebots, which are
                 able to perform robustly in challenging environments.",
}

Genetic Programming entries for Ivan T Tanev Thomas S Ray Katsunori Shimohara

Citations