Autonomous Evolution of Dynamic Gaits
One of the issues with legged robots is the development of gaits.
Typically gaits are developed manually, which is a slow and tedious
In this project we report our results of autonomous evolution of dynamic gaits
Sony Entertainment Robot, AIBO and its prototype.
Fitness is determined using the robot's digital camera and
Evolved gaits are faster than those created by hand.
Using this technique we evolve a gait used in the consumer
version of AIBO.
A system for automatically generating dynamic gaits is especially
important for legged robots for a number of reasons:
When an entirely new robot is constructed it is necessary to produce
gaits for it, and these new gaits need to be created quickly so that
other members of the software development team can use the gaits in
developing higher-level behaviors.
When creating a new version of a robot, or make adjustments to an
existing robot, existing gaits must be tuned to the newer hardware.
New gaits are worth generating for specialized terrain or environments.
An evolutionary algorithm is used to evolve controllers
for the robot.
A trial consists of running torwards one end of the pen.
Score is a function of average velocity and straightness.
The robot uses its own sensors to evaluate individuals.
Fitness is the average over three trials.
Using our evolutionary algorithms we successfully evolved various
dynamic gaits for Sony's OPEN-R prototype robot and Sony's ERS-110 robot.
One of the dynamic gaits evolved on the ERS-110 is used on the
first consumer version of AIBO.
Here are .AVI videos of our experiments:
Yamamoto, T. and
Evolving Robust Gaits with AIBO.
IEEE International Conference on Robotics and Automation.
Takamura, S., and
Autonomous Evolution of Locomotion for a Pet-type Robot using Genetic Algorithms.
Genetic Algorithms 4, Hiroaki Kitano, ed., Chapter 6.
Sangyou-Tosho Coorporation. in Japanese
Yokono, J., and
Evolution of Dynamic Gaits for a Robot.
IEEE International Conference on Consumer Electronics.
Yamamoto, T. and
Autonomous Evolution of Gaits with the Sony Quadruped Robot.
Proceedings of 1999 Genetic and Evolutionary Computation Conference (GECCO). Banzhaf, Daida, Eiben, Garzon, Honavar, Jakiela, Smith, eds., Morgan Kauffmann, pp. 1297-1304.
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