Emergence of adaptive behaviors by redundant robots - Robustness to changes environment and failures

K. Ito, A. Gofuku

Research output: Contribution to conferencePaper

4 Citations (Scopus)

Abstract

Acquiring adaptive behaviors of robots automatically is one of the most interesting topics of the evolutionary systems. In previous works, we have developed an adaptive autonomous control method for redundant robots. The QDSEGA is one of the methods that we have proposed for them. The QDSEGA is realized by combining Q-learning and GA, and it can acquire suitable behaviors by adapting a movement of a robot for a task. In this paper, we focus on the adaptability of the QDSEGA and discuss the robustness of the autonomous redundant robot that is controlled by the QDSEGA. To demonstrate the effectiveness of the QDSEGA, simulations of obstacle avoidance by a 10-link manipulator in the changeable environment and locomotion by a 12-legged robot with failures have been carried out, and as a result, adaptive behaviors for each environment and each broken body have emerged.

Original languageEnglish
Pages2572-2579
Number of pages8
DOIs
Publication statusPublished - 2003
Event2003 Congress on Evolutionary Computation, CEC 2003 - Canberra, ACT, Australia
Duration: Dec 8 2003Dec 12 2003

Other

Other2003 Congress on Evolutionary Computation, CEC 2003
CountryAustralia
CityCanberra, ACT
Period12/8/0312/12/03

ASJC Scopus subject areas

  • Computational Mathematics

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    Ito, K., & Gofuku, A. (2003). Emergence of adaptive behaviors by redundant robots - Robustness to changes environment and failures. 2572-2579. Paper presented at 2003 Congress on Evolutionary Computation, CEC 2003, Canberra, ACT, Australia. https://doi.org/10.1109/CEC.2003.1299412