Evolution of Efficient Gait with Humanoids using
Visual Feedback.
K. Wolff, and P. Nordin. Proceedings of the 2nd IEEE-RAS International
Conference on Humanoid Robots, page 99--106. Institute of Electrical and Electronics Engineers,
Inc., (2001)
Abstract
In this paper we present the autonomous, walking
humanoids Priscilla, ELVIS and ELVINA and an experiment
using evolutionary adaptive systems. We also present
the anthropomorphic principles behind our humanoid
project and the multistage development methodology. The
adaptive evolutionary system used is a steady state
evolutionary strategy running on the robot's onboard
computer. Individuals are evaluated and fitness scores
are automatically determined using the robots onboard
digital cameras and near-infrared range sensor. The
experiments are performed in order to optimise a by
hand developed locomotion controller. By using this
system, we evolved gait patterns that locomote the
robot in a straighter path and in a more robust way,
than the previously manually developed gait did.
%0 Conference Paper
%1 WolNor01
%A Wolff, Krister
%A Nordin, Peter
%B Proceedings of the 2nd IEEE-RAS International
Conference on Humanoid Robots
%D 2001
%I Institute of Electrical and Electronics Engineers,
Inc.
%K algorithms, artificial embodied genetic humanoid intelligence programming, robotics,
%P 99--106
%T Evolution of Efficient Gait with Humanoids using
Visual Feedback.
%X In this paper we present the autonomous, walking
humanoids Priscilla, ELVIS and ELVINA and an experiment
using evolutionary adaptive systems. We also present
the anthropomorphic principles behind our humanoid
project and the multistage development methodology. The
adaptive evolutionary system used is a steady state
evolutionary strategy running on the robot's onboard
computer. Individuals are evaluated and fitness scores
are automatically determined using the robots onboard
digital cameras and near-infrared range sensor. The
experiments are performed in order to optimise a by
hand developed locomotion controller. By using this
system, we evolved gait patterns that locomote the
robot in a straighter path and in a more robust way,
than the previously manually developed gait did.
%@ 4-9901025-0-9
@inproceedings{WolNor01,
abstract = {In this paper we present the autonomous, walking
humanoids Priscilla, ELVIS and ELVINA and an experiment
using evolutionary adaptive systems. We also present
the anthropomorphic principles behind our humanoid
project and the multistage development methodology. The
adaptive evolutionary system used is a steady state
evolutionary strategy running on the robot's onboard
computer. Individuals are evaluated and fitness scores
are automatically determined using the robots onboard
digital cameras and near-infrared range sensor. The
experiments are performed in order to optimise a by
hand developed locomotion controller. By using this
system, we evolved gait patterns that locomote the
robot in a straighter path and in a more robust way,
than the previously manually developed gait did.},
added-at = {2008-06-19T17:35:00.000+0200},
author = {Wolff, Krister and Nordin, Peter},
biburl = {https://www.bibsonomy.org/bibtex/23c1f127f1310314ccd11a4905dad9221/brazovayeye},
booktitle = {Proceedings of the 2nd IEEE-RAS International
Conference on Humanoid Robots},
interhash = {7ea103aeadfa7abc1d6a05a7c01920f2},
intrahash = {3c1f127f1310314ccd11a4905dad9221},
isbn = {4-9901025-0-9},
keywords = {algorithms, artificial embodied genetic humanoid intelligence programming, robotics,},
notes = {cf \cite{WolNor02a}},
pages = {99--106},
publisher = {Institute of Electrical and Electronics Engineers,
Inc.},
timestamp = {2008-06-19T17:54:18.000+0200},
title = {Evolution of Efficient Gait with Humanoids using
Visual Feedback.},
year = 2001
}