How robot morphology and training order affect the learning of multiple behaviors

2009 IEEE Congress on Evolutionary Computation, CEC 2009

Volumn , Issue , 2009, Pages 39-46

  Auerbach, Joshua ^a   Bongard, Josh C ^a  

^a University of Vermont   (United States)

Author keywords

[No Author keywords available]

Indexed keywords

DYNAMIC MOTIONS; ROBOT MORPHOLOGY; SHAPING METHOD; TASK ENVIRONMENT;

CONTROLLERS; EDUCATION; LOCOMOTIVES; MORPHOLOGY; RAILROAD CARS; ROBOTS;

LEARNING ALGORITHMS;

EID: 70449926904     PISSN: None     EISSN: None     Source Type: Conference Proceeding    
DOI: 10.1109/CEC.2009.4982928     Document Type: Conference Paper

References (22)

1. I. Harvey, P. Husbands, D. Cliff, A. Thompson, and N. Jakobi, "Evolutionary robotics: the sussex approach," Robotics and Autonomous Systems, vol.20, pp. 205-224, 1997.
2. S. Nolfi and D. Floreano, Evolutionary Robotics: The Biology, Intelligence, and Technology. Cambridge, MA, USA: MIT Press, 2000.
3. T. Reil and P. Husbands, "Evolution of central pattern generators for bipedal walking in a real-time physics environment," Evolutionary Computation, IEEE Transactions on, vol.6, no.2, pp. 159-168, Apr 2002.
4. G. Hornby, S. Takamura, T. Yamamoto, and M. Fujita, "Autonomous evolution of dynamic gaits with two quadruped robots," Robotics, IEEE Transactions on, vol.21, no.3, pp. 402-410, June 2005.
5. J. J. Fernandez Jr. and I. D. Walker, "A biologically inspired fitness function for robotic grasping," in Proc. of the Genetic and Evolutionary Computation Conf. GECCO-99, W. Banzhaf, J. Daida, A. E. Eiben, M. H. Garzon, V. Honavar, M. Jakiela, and R. E. Smith, Eds. San Francisco, CA: Morgan Kaufmann, 1999, pp. 1517-1522.
6. A. Chella, H. Dindo, F. Matraxia, and R. Pirrone, "Real-time visual grasp synthesis using genetic algorithms and neural networks." in AI*IA, ser. Lecture Notes in Computer Science, R. Basili and M. T. Pazienza, Eds., vol.4733. Springer, 2007, pp. 567-578.
7. R. Brooks, "A robust layered control system for a mobile robot," Robotics and Automation, IEEE Journal of [legacy, pre - 1988], vol.2, no.1, pp. 14-23, 1986. [Online]. Available: http://ieeexplore.ieee.org/ xpls/abs-all.jsp?arnumber=1087032 (Pubitemid 16576274)
8. R. Calabretta, S. Nolfi, D. Parisi, and G. P. Wagner, "Duplication of modules facilitates the evolution of functional specialization," Artif. Life, vol.6, no.1, pp. 69-84, 1999.
9. T. Inamura, I. Toshima, and H. Tanie, "Embodied symbol emergence based on mimesis theory," International Journal of Robotics Research, vol.23, no.4, pp. 363-377, 2004.
10. M. Okada and Y. Nakamura, "Design of the continuous symbol space for the intelligent robots using the dynamics-based information processing," Robotics and Automation, 2004. Proceedings. ICRA '04. 2004 IEEE International Conference on, vol.4, pp. 3201-3206 Vol.4, 26-May 1,2004.
11. J. Foss, F. Moss, and J. Milton, "Noise, multistability, and delayed recurrent loops," Physical Review E, vol.55, no.4, pp. 4536+, April 1997. [Online]. Available: http://dx.doi.org/10.1103/PhysRevE.55.4536
12. E. Izquierdo and T. Buhrmann, "Analysis of a dynamical recurrent neural network evolved for two qualitatively different tasks: walking and chemotaxis," in Artificial Life XI: Proceedings of the Eleventh International Conference on the Simulation and Synthesis of Living Systems, S. Bullock, J. Noble, R. Watson, and M. A. Bedau, Eds. MIT Press, Cambridge, MA, 2008, pp. 257-264.
13. J. Bongard, "Behavior chaining: incremental behavioral integration for evolutionary robotics," in Artificial Life XI: Proceedings of the Eleventh International Conference on the Simulation and Synthesis of Living Systems, S. Bullock, J. Noble, R. Watson, and M. A. Bedau, Eds. MIT Press, Cambridge, MA, 2008, pp. 64-71.
14. W. Carriker, P. Khosla, and B. Krogh, "Path planning for mobile manipulators for multiple task execution," IEEE Transactions on Robotics and Automation, pp. 403 - 408, June 1991.
15. H. Seraji, "A unified approach to motion control of mobile manipulators," The International Journal of Robotics Research, vol.17, no.2, pp. 107-118, 1998.
16. S. P. Singh, "Transfer of learning across sequential tasks," Machine Learning, vol.8, pp. 323-339, 1992.
17. M. Dorigo and M. Colombetti, "Robot shaping: Developing situated agents through learning," Artificial Intelligence, vol.70, no.2, pp. 321-370, 1994.
18. L. Saksida, S. Raymond, and D. S. Touretzky, "Shaping robot behavior using principles from instrumental conditioning," Robotics and Autonomous Systems, vol.22, pp. 231-249, 1997.
19. D. Wood, J. Bruner, and G. Ross, "The role of tutoring in problem solving," J Child Psychol Psychiatry, vol.17, no.2, pp. 89-100, 1976.
20. R. D. Beer, "The dynamics of brain-body-environment systems: A status report." in Handbook of Cognitive Science: An Embodied Approach, P. Calvo and A. Gomila, Eds. Elsevier, 2008, pp. 99- 120.
21. -, "Parameter space structure of continuous-time recurrent neural networks," Neural Comp., vol.18, no.12, pp. 3009-3051, 2006.
22. S. J. Russell and P. Norvig, Artificial Intelligence: A Modern Approach, 2nd ed. Prentice Hall, December 2002.