Evolving robust gaits with AIBO
Published 7 November 2002
Gregory S. Hornby, S. Takamura, Jun Yokono, O. Hanagata, Tomoyuki Yamamoto, Masahiro Fujita
Citations125
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TL;DR
An evolutionary algorithm is used to evolve gaits with the Sony entertainment robot, AIBO, and by sculpting the experimental environment, the robustness to different surface types and different AIBOs is increased.
Abstract
An evolutionary algorithm is used to evolve gaits with the Sony entertainment robot, AIBO. All processing is handled by the robot's on-board computer with individuals evaluated using the robot's hardware. By sculpting the experimental environment, we increase the robustness to different surface types and different AIBOs. Evolved gaits are faster than those created by hand. Using this technique we evolve a gait used in the consumer version of AIBO.
Keywords
Computer ScienceEngineering
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