The evolution of neural network controllers for the targeted swing of cockroach-like robot

In this work, agents are evolved to control the locomotion of legged robots. The work has been done on a 5-DOF simulated cockroach robot leg powered by artificial muscles known as braided pneumatic actuators. The problem was addressed in making a targeted swing movement from a number of possible ini...

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Bibliographic Details
Main Authors: Fife, A., Laksanacharoen, S., Quinn, R.D., Beer, R.D., Ritzmann, R.E.
Format: Conference Proceeding
Language:English
Subjects:
Evolution (biology)
Leg
Legged locomotion
Mechanical engineering
Mobile robots
Navigation
Neural networks
Robot control
Robust control
Weight control
Online Access:Request full text
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Summary:In this work, agents are evolved to control the locomotion of legged robots. The work has been done on a 5-DOF simulated cockroach robot leg powered by artificial muscles known as braided pneumatic actuators. The problem was addressed in making a targeted swing movement from a number of possible initial leg configurations. The agents are evolved to successfully compensate for these differences and navigate obstacles in a robust swing.
ISSN:1098-7576
1558-3902
DOI:10.1109/IJCNN.2002.1005599