Co-Evolution of Sensor Morphology and Control on a Simulated Legged Robot

This paper discusses utilizing genetic algorithms to automatically design a suitable sensor morphology and controller for a given task in categories of environments. The type of sensors, the heading angle and the range of the sensor, and the rules the controller, are co-evolved. The described method...

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Bibliographic Details
Main Authors: Parker, G.B., Nathan, P.J.
Format: Conference Proceeding
Language:English
Subjects:
Algorithm design and analysis
Automatic control
Control systems
Genetic algorithms
Legged locomotion
Morphology
Robot sensing systems
Robotics and automation
Sensor phenomena and characterization
Sensor systems
Online Access:Request full text
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Summary:This paper discusses utilizing genetic algorithms to automatically design a suitable sensor morphology and controller for a given task in categories of environments. The type of sensors, the heading angle and the range of the sensor, and the rules the controller, are co-evolved. The described method enables the system to decipher information from the environment to determine that is relevant to completing a given task while configuring a minimal controller and number of sensors, thus increasing the overall efficiency of the robot.
DOI:10.1109/CIRA.2007.382874