Automated evolutionary design, robustness, and adaptation of sidewinding locomotion of a simulated snake-like robot

IEEE Transactions on Robotics

Volumn 21, Issue 4, 2005, Pages 632-645

  Tanev, Ivan ^a,b   Ray, Thomas ^c   Buller, Andrzej ^b  

^a DOSHISHA UNIVERSITY   (Japan)

^b ADVANCED TELECOMMUNICATIONS RESEARCH INSTITUTE INTERNATIONAL   (Japan)

^c UNIVERSITY OF OKLAHOMA   (United States)

Author keywords

Adaptation; Genetic programming; Robustness; Snake like robot

Indexed keywords

COMPUTATIONAL COMPLEXITY; COMPUTER SIMULATION; GENETIC ALGORITHMS; MATHEMATICAL MODELS; OPTIMIZATION; ROBOT PROGRAMMING;

GENETIC PROGRAMMING; SNAKE LIKE ROBOT;

ROBOTS;

EID: 24144440435     PISSN: 15523098     EISSN: None     Source Type: Journal    
DOI: 10.1109/TRO.2005.851028     Document Type: Article

References (39)

1. P. J. Angeline, "Genetic programming and emergent intelligence," in Advances in Genetic Programming, K. E. Kinnear, Jr., Ed. Cambridge, MA: MIT Press, 1994, pp. 75-98.
2. J. C. Bongard and H. Lipson, "Automated damage diagnosis and recovery for remote robotics," in Proc. IEEE Int. Conf. Robot. Autom., 2004, pp. 3545-3550.
3. J. W. Burdick, J. Radford, and G. S. Chirikjian, "A "Sidewinding" locomotion gait for hyper-redundant robots," in Proc. IEEE Int. Conf. Robot. Autom., Atlanta, GA, 1993, pp. 101-106.
4. L. Chen, Y. Wang, S. Ma, and B. Li, "Studies on lateral rolling locomotion of a snake robot," in Proc. IEEE Int. Conf. Robot. Autom., vol. 5, New Orleans, LA, Apr. 26-May 1 2004, pp. 5070-5074.
5. G. S. Chirikjian and J. W. Burdick, "The kinematics of hyper-redundant robotic locomotion," IEEE Trans. Robot. Autom., vol. 11, no. 6, pp. 781-793, Dec. 1995.
6. R. Grzeszczuk and D. Terzopoulos, "Automated learning of muscle-actuated locomotion through control abstraction," in Proc. 22nd Annu. Conf. Computer Graphics, Los Angeles, CA, Aug. 1995, pp. 63-70.
7. K. Dowling, "Limbless locomotion: Learning to crawl with a snake robot," Ph.D. dissertation, Robotics Inst., Carnegie Mellon Univ., Pittsburgh, PA, 1997.
8. D. E. Goldberg, Genetic Algorithms in Search, Optimization, and Machine Learning. Reading, MA: Addision-Wesley, 1989.
9. S. Hirose, Biologically Inspired Robots: Snake-Like Locomotors and Manipulators. Oxford, U.K.: Oxford Univ. Press, 1993.
10. S. Hirose, "Connected differential mechanism and its applications," in Proc. 2nd Int. Conf. Adv. Robot., 1985, pp. 319-326.
11. S. Hirose, A. Morishima, and S. Tukagosi, "Design of practical snake vehicle: Articulated body mobile robot KR-II," in Proc. 5th Int. Conf. Adv. Robot., Pisa, Italy, 1991, pp. 833-838.
12. K. Ito and A. Gofuku, "Emergence of adaptive behaviors by redundant robots - Robustness to changes environment and failures," in Proc. IEEE Congr. Evol. Computat., Canberra, Australia, Dec. 2003, pp. 2572-2579.
13. K. Ito, T. Kamegawa, and F. Matsuno, "Extended QDSEGA for controlling real robots - Acquisition of locomotion patterns for snake-like robot," in Proc. IEEE Int. Conf. Robot. Autom., 2003, pp. 791-796.
14. K. Ito and F. Matsuno, "Application of reinforcement learning to hyper-redundant system: Acquisition of locomotion pattern of snake-like robot," in Proc. Pacific Asian Conf. Intell. Syst., Seoul, Korea, Nov. 2001, pp. 65-70.
15. S. Kamio, H. Mitsuhashi, and H. Iba, "Integration of genetic programming and reinforcement learning for real robots," in Proc. Genetic Evol. Computat. Conf., 2003, pp. 470-482.
16. H. Kimura, T. Yamashita, and S. Kobayashi, "Reinforcement learning of walking behavior for a four-legged robot," in Proc. 40th IEEE Conf. Decision and Control, 2001, pp. 411-416.
17. N. Jacobi, "Minimal simulations for evolutionary robotics," Ph.D. dissertation, School of Cognitive and Comput. Sci., Univ. of Sussex, Falmer, U.K., 1998.
18. J. R. Koza, Genetic Programming: On the Programming of Computers by Means of Natural Selection. Cambridge, MA: MIT Press, 1992.
19. J. R. Koza, Genetic Programming 2: Automatic Discovery of Reusable Programs. Cambridge, MA: MIT Press, 1994.
20. J. R. Koza, M. A. Keane, J. Yu, F. H. Bennett, III, and W. Mydlowec, "Automatic creation of human-competitive programs and controllers by means of genetic programming," Genetic Program. Evolvable Mach., vol. 1, no. 1-2, pp. 121-164, 2000.
21. I. B. Levitan and L. K. Kaczmarek, The Neuron: Cell and Molecular Biology. New York: Oxford Univ. Press, 2002.
22. S. Mahdavi and P. J. Bentley, "Evolving motion of robots with muscles," in Proc. 2nd Eur. Workshop Evol. Robot., 2003; pp. 655-664.
23. H. J. Morowitz, The Emergence of Everything: How the World Became Complex. New York: Oxford Univ. Press, 2002.
24. L. Meeden and D. Kumar, "Trends in evolutionary robotics," in Soft Computing for Intelligent Robotic Systems, L. C. Jain and T. Fukuda, Eds. New York: Physica-Verlag, 1998, pp. 215-233.
25. J. Ostrowski and J. Burdick, "Gait kinematics for a serpentine robot," in Proc. IEEE Int. Conf. Robot. Autom., Minneapolis, MN, 1996, pp. 1294-1299.
26. M. Pelikan, D. E. Goldberg, and E. Cantú-Paz, "Linkage Problem, Distribution Estimation, and Bayesian Networks," Illinois Genetic Algorithm Lab., Univ. Illinois at Urbana-Champaign, Urbana, IL, IlliGAL Rep. 98013, 1998.
27. R. Pfeifer, "On the role of morphology and materials in adaptive behavior," in Proc. 6th Int. Conf. Simulation Adaptive Behavior, J.-A. Meyer, A. Berthoz, D. Floreano, H. Roitblat, and S. W. Wilson, Eds. Cambridge, MA: MIT Press, 2000, pp. 23-32.
28. B. Salemi, P. Will, and W.-M. Shen, "Distributed task negotiation in modular robots," Robot. Soc. Japan, vol. 21, no. 8, pp. 32-39, 2003.
29. K. Sims, "Evolving 3D morphology and behavior by competition," in Proc. Artif. Life IV, 1994, pp. 28-39.
30. T. Ray, "Aesthetically evolved virtual pets," Leonardo, vol. 34, no. 4, pp. 313-316, 2001.
31. R. Shadmehr and H. Holcomb, "Neural correlates of motor memory consolidation," Science, vol. 277, pp. 821-825, 1997.
32. R. Smith. (2001-2003) Open dynamics engine. Online. Available: http://ql2.org/ode/
33. K. Stoy, W.-M. Shen, and P. M. Will, A simple approach to the control of locomotion in self-reconfigurable robots," Robot. Auton. Syst., vol. 44, no. 3, pp. 191-200, 2003.
34. S. Takamura, G. S. Hornby, T. Yamamoto, J. Yokono, and M. Fujita, "Evolution of dynamic gaits for a robot," in Proc. IEEE Int. Conf. Consum. Electron., 2000, pp. 192-193.
35. I. Tanev, "DOM/XML-based portable genetic representation of morphology, behavior and communication abilities of evolvable agents," in Proc. 8th Int. Symp. Artif. Life Robot., Beppu, Japan, 2003, pp. 185-188.
36. I. Tanev, "Incorporating learning probabilistic context-sensitive grammar in genetic programming for efficient evolution and adaptation of Snakebot," in Proc. 8th Eur. Conf. Genetic Programming, Lausanne, Switzerland, Mar.-Apr. 2005, pp. 155-166.
37. R. Worst, "Robotic snakes," in Proc. 3rd German Workshop Artif. Life, 1998, pp. 113-126.
38. Y. Zhang, M. H. Yim, C. Eldershaw, D. G. Duff, and K. D. Roufas, "Phase automata: A programming model of locomotion gaits for scalable chain-type modular robots," in Proc. IEEE/RSJ Int. Conf. Intell. Robots Syst., Las Vegas, NV, Oct. 2003, pp. 2442-2447.
39. M. Svinin, S. Ushio, K. Yamada, and K. Ueda, "Emergent systems of motion patterns for locomotion robots," in Proc. Int. Workshop Emergent Synthesis, 1999, pp. 119-126.