An Evolutionary Based Approach for Control Programming of Humanoids

Created by W.Langdon from gp-bibliography.bib Revision:1.4221

  author =       "K. Wolff and P. Nordin",
  title =        "An Evolutionary Based Approach for Control Programming
                 of Humanoids",
  booktitle =    "Proceedings of the 3rd International Conference on
                 Humanoid Robots (Humanoids'03)",
  year =         "2003",
  address =      "Karlsruhe, Germany",
  month =        "1-2 " # oct,
  organization = "IEEE",
  publisher =    "VDI/VDE-GMA",
  keywords =     "genetic algorithms, genetic programming",
  URL =          "",
  abstract =     "We describe the first instance of a novel approach for
                 control programming of humanoid robots, based on
                 evolution. To overcome some of the difficulties with
                 evolution on real hardware, we use a physically
                 realistic simulation of the robot. The essential idea
                 is to evolve control programs from first principles on
                 a simulated robot, transfer the programs to the real
                 robot, and continue to evolve on the robot. As the key
                 motivation for using simulators, we describe an on-line
                 learning experiment with a humanoid robot. The Genetic
                 Programming system is implemented as a Virtual Register
                 Machine, with a linear genome, and steady state
                 tournament selection. Evolution created controller
                 programs that made the simulated robot produce forward
                 locomotion behaviour. A further application of this
                 system, with two phases of evolution, would be to have
                 a flexible adaptation mechanism that can react to
                 hardware failures in the robot.",

Genetic Programming entries for Krister Wolff Peter Nordin