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The Automated Fault-recovery for Four-legged Robots using Parallel Genetic Algorithm

Hyunsoo Park, Kyung Joong Kim
2013 Procedia Computer Science  
This is also one of desirable properties for industrial robots operating remotely in extreme conditions.  ...  It is expected that robots could operate autonomously in extreme environments without human intervention. However, it is not a trivial task to design robots robust to all kinds of faults.  ...  Acknowledgements This work was supported by the National Research Foundation of Korea (NRF) grant funded by the Korea government (MSIP) (2013R1A2A2A01016589, 2010-0018950).  ... 
doi:10.1016/j.procs.2013.10.039 fatcat:u23mcc6spvekrbzo4uwrflkpi4

Evolutionary robotics in two decades: A review

2015 Sadhana (Bangalore)  
of body and brain and in transforming the evolved robots in physical reality.  ...  Principles of biological evolution are applied in the form of evolutionary techniques for solving the complicated problems in the areas of robotic design and control.  ...  Fitness function to evolve the robots is taken as the distance moved by the center of mass of a robot in fixed number of simulation cycles.  ... 
doi:10.1007/s12046-015-0357-7 fatcat:s7kkwrnsxzc75pinbjueukbpkq

Automated synthesis of multiple analog circuits using evolutionary computation for redundancy-based fault-tolerance

Kyung-Joong Kim, Sung-Bae Cho
2012 Applied Soft Computing  
robot missions.  ...  Evolutionary computation is a natural way to produce multiple redundant solutions because it is a population-based search.  ...  Hollinger and Gwaltney also evolved fault-tolerant circuits for controlling robots using a genetic algorithm (GA) [19] . In this work, they evolved a circuit that is robust to component removal.  ... 
doi:10.1016/j.asoc.2011.12.002 fatcat:wbuoqv2wmfgppbv3ykx7gpjyh4

Evolution of Robot Controller Using Cartesian Genetic Programming [chapter]

Simon Harding, Julian F. Miller
2005 Lecture Notes in Computer Science  
Here, an integer based version of the representation is applied to a traditional problem in the field: evolving an obstacle avoiding robot controller.  ...  The generalisation of the robot controllers in different environments is also demonstrated.  ...  In future work we hope to use CGP to control a physical robot, and to perform the entire evolutionary algorithm in hardware.  ... 
doi:10.1007/978-3-540-31989-4_6 fatcat:fuuoof7ofnfoph4sdeoo7fg3ji

Performance of Incremental Genetic Programming on Adaptability of Snake-like Robot

N. Mukosaka, I. Tanev, K. Shimohara
2013 Procedia Computer Science  
In this paper we discuss the performance of the proposed Incremental Genetic Programming on the efficiency of evolution of locomotion gaits of simulated snake-like robot (Snakebot).  ...  Moreover, evolving the Snakebot in such environments from scratch via canonical genetic programming (GP) is rather inefficient.  ...  Acknowledgements I would like to thank the members of Laboratory of Socioinformatics in Doshisha University for their support of this study.  ... 
doi:10.1016/j.procs.2013.10.038 fatcat:ozmvhqyfond7zo2q67667hn2qa

Trajectory planning of redundant manipulators using genetic algorithms

Maria da Graça Marcos, J.A. Tenreiro Machado, T.-P. Azevedo-Perdicoúlis
2009 Communications in nonlinear science & numerical simulation  
Each robot is associated to one population and each string of a population represents a complete robot path.  ...  Arakawa et al. [11] proposed a virus-evolutionary genetic algorithm, composed of a host population and a virus population with subpopulations, for the trajectory generation of redundant manipulators without  ...  Over successive generations, the population evolves towards an optimal solution.  ... 
doi:10.1016/j.cnsns.2008.10.014 fatcat:js6tqkrmyzheblp3ehbksce6b4

Redundancy in the control of robots with highly coupled mechanical structures

C. Paul, H. Lipson
2005 2005 IEEE/RSJ International Conference on Intelligent Robots and Systems  
Control strategies for locomotion were evolved using a genetic algorithm in simulation, and the evolved behaviors were compared.  ...  This indicated that a considerable degree of redundancy could exist in the control of robots based on highly coupled mechanical structures.  ...  A fixed length genetic algorithm was used to evolve the controllers. Each run of the genetic algorithm was conducted for 200 generations, using a population size of 200.  ... 
doi:10.1109/iros.2005.1545079 dblp:conf/iros/PaulL05 fatcat:ya2g2gakdbasfhjczkgcsi3oae

Embodied Computational Evolution: Feedback Between Development and Evolution in Simulated Biorobots

Joshua Hawthorne-Madell, Eric Aaron, Ken Livingston, John H. Long
2021 Frontiers in Robotics and AI  
To test this hypothesis, populations of simulated embodied biorobots and their developmental systems were evolved under steady directional selection as equivalent rates of random mutation and random transcriptional  ...  In each of the 121 different experimental conditions (unique combinations of mutation and transcription error), the same set of 10 randomly created replicate populations of 60 individuals were evolved.  ...  , evolving, simulated robots.  ... 
doi:10.3389/frobt.2021.674823 pmid:34179109 pmcid:PMC8222576 fatcat:77go5ui7svfgrlvhr7rqra2ica

Evolutionary robotics: the Sussex approach

I. Harvey, P. Husbands, D. Cliff, A. Thompson, N. Jakobi
1997 Robotics and Autonomous Systems  
directly evolved in hardware.  ...  Results are presented from research with evolved controllers for autonomous mobile robots simulated robots, coevolved animats, real robots with software controllers, and a real robot with a controller  ...  Several major hurdles have been identi ed: morphogenesis, the design of tness functions, and the role of simulations. The race is still in progress.  ... 
doi:10.1016/s0921-8890(96)00067-x fatcat:cxmi7zwnorey3nxigzhrjjvtiy

Explorations in Evolutionary Robotics

Dave Cliff, Phil Husbands, Inman Harvey
1993 Adaptive Behavior  
To support our claims and proposals, we summarize results from some preliminary simulation experiments in which visually guided robots are evolved to operate in simple environments.  ...  These networks may be recurrent and should operate in real time. The evolution should be incremental, using an extended and modified version of a genetic algorithm.  ...  The toytown robot was funded by a University of Sussex research and development grant.  ... 
doi:10.1177/105971239300200104 fatcat:kew52prn4jaclmxp4c77muzmt4

Context-Dependent DNA Coding With Redundancy and Introns

Peng Xiao, P. Vadakkepat, Tong Heng Lee
2008 IEEE Transactions on Systems Man and Cybernetics Part B (Cybernetics)  
The redundancy and intron parts are helpful in preventing useful schemata from disruption and in increasing the population diversity.  ...  With the context dependency, the DNA coding methods allow intron parts, redundancy, and variable string length in encoded strings while remaining compatible with the standard genetic operations.  ...  The redundancy in DNA coding increases the population diversity. The DNA coding with intron parts displays an even better performance.  ... 
doi:10.1109/tsmcb.2007.912741 pmid:18348918 fatcat:vcdtoecnhvfcloelaeduusqaxu

Hybrid Taguchi DNA Swarm Intelligence for Optimal Inverse Kinematics Redundancy Resolution of Six-DOF Humanoid Robot Arms

Hsu-Chih Huang, Sendren Sheng-Dong Xu, Huan-Shiuan Hsu
2014 Mathematical Problems in Engineering  
This paper presents a hybrid Taguchi deoxyribonucleic acid (DNA) swarm intelligence for solving the inverse kinematics redundancy problem of six degree-of-freedom (DOF) humanoid robot arms.  ...  The inverse kinematics problem of the multi-DOF humanoid robot arm is redundant and has no general closed-form solutions or analytical solutions.  ...  These simulations clearly indicate that the proposed Taguchi-based DNA resolves the redundant problem and finds optimal configuration of the six-DOF robot arm. = [ , ] = [0 ∘ 0 ∘ 0 ∘ 0 ∘ 0 ∘ 0 ∘ ] In order  ... 
doi:10.1155/2014/358269 fatcat:us45gwosv5evnfj6w6q7q7vrcy

Combining Multiple Evolved Analog Circuits for Robust Evolvable Hardware [chapter]

Kyung-Joong Kim, Sung-Bae Cho
2009 Lecture Notes in Computer Science  
Because evolutionary computation refers to a population-based search, multiple, redundant solutions can be maintained.  ...  The failure of electronic hardware presents a critical threat to the completion of modern aircraft, spacecraft, and robot missions.  ...  Hollinger et al. also evolved fault-tolerant circuits for controlling robots using a genetic algorithm (GA) [3] .  ... 
doi:10.1007/978-3-642-04394-9_44 fatcat:pe6nrxfc7nbodccjcl4zpummoi

An evolutionary approach for the motion planning of redundant and hyper-redundant manipulators

Maria da Graça Marcos, J. A. Tenreiro Machado, T.-P. Azevedo-Perdicoúlis
2009 Nonlinear dynamics  
Computer simulations performed based on redundant and hyper-redundant planar manipulators show that, when the end-effector traces a closed path in the workspace, the robot returns to its initial configuration  ...  The trajectory planning of redundant robots is an important area of research and efficient opti-mization algorithms are needed.  ...  Over successive generations, the population evolves towards an opti-mal solution.  ... 
doi:10.1007/s11071-009-9584-y fatcat:vksr5kebk5bwfml42u72rswq3y

Epigenetic Operators and the Evolution of Physically Embodied Robots

Jake Brawer, Aaron Hill, Ken Livingston, Eric Aaron, Joshua Bongard, John H. Long
2017 Frontiers in Robotics and AI  
In addition, in simulation, EO populations were significantly less fit than populations without it.  ...  More generally, results such as these demonstrate the interaction of genetic and EOs during evolution, suggesting the broad importance of including EOs in investigations of evolvability.  ...  While small, this population size is larger than that of previous work on evolving physical robots where selection for phototaxis could clearly act in spite of the presence of genetic drift (Long et al  ... 
doi:10.3389/frobt.2017.00001 fatcat:276oeehcbbahhd3b2tr3npxhgu
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