Peter Dittrich, Andreas Buergel and Wolfgang Banzhaf

University of Dortmund, Dempt. of Computer Science, Chair of Systemsanalysis (LS XI)

Learning to Move a Robot with Random Morphology


Abstract

Complex bio-inspired robots consisting of many actuators are difficult to control. If no model is available automatic learning and adaptation methods have to be applied. The aim of this contribution is twofold: (1) To present an easy to maintain and cheap test platform, which fulfills the requirements of a complex control problem. (2) To discuss the application of Genetic Programming for evolution of control programs in real time. An extensive number of experiments with two real robots has been carried out.

Keywords:} genetic programming, real-time robotics, random morphology robot, hardware evolution


full paper

"May 20 2007" Peter Dittrich