歩行arXiv:0907.1839
動的バランスを伴う二足歩行のための進化した神経制御器
An Evolved Neural Controller for Bipdedal Walking with Dynamic Balance
柔軟アクチュエータを持つ二足ロボットのシミュレーション上で、局所解を回避しつつ動的二足歩行を実現する神経ネットワーク制御器を進化的手法で獲得した。
著者: Michael E. Palmer, Daniel B. Miller
分類: cs.NE, cs.RO
原文アブストラクト
We successfully evolved a neural network controller that produces dynamic walking in a simulated bipedal robot with compliant actuators, a difficult control problem. The evolutionary evaluation uses a detailed software simulation of a physical robot. We describe: 1) a novel theoretical method to encourage populations to evolve "around" local optima, which employs multiple demes and fitness functions of progressively increasing difficulty, and 2) the novel genetic representation of the neural controller.