Evolution of Controllers from a High-Level Simulator to a High DOF Robot

  • G. S. Hornby
  • S. Takamura
  • O. Hanagata
  • M. Fujita
  • J. Pollack
Conference paper

DOI: 10.1007/3-540-46406-9_9

Part of the Lecture Notes in Computer Science book series (LNCS, volume 1801)
Cite this paper as:
Hornby G.S., Takamura S., Hanagata O., Fujita M., Pollack J. (2000) Evolution of Controllers from a High-Level Simulator to a High DOF Robot. In: Miller J., Thompson A., Thomson P., Fogarty T.C. (eds) Evolvable Systems: From Biology to Hardware. ICES 2000. Lecture Notes in Computer Science, vol 1801. Springer, Berlin, Heidelberg

Abstract

Building a simulator for a robot with many degrees of freedom and various sensors, such as Sony’s AIBO4, is a daunting task. Our implementation does not simulate raw sensor values or actuator commands, rather we model an intermediate software layer which passes processed sensor data to the controller and receives high-level control commands. This allows us to construct a simulator that runs at over 11000 times faster than real time. Using our simulator we evolve a ball-chasing behavior that successfully transfers to an actual AIBO.

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Copyright information

© Springer-Verlag Berlin Heidelberg 2000

Authors and Affiliations

  • G. S. Hornby
    • 1
  • S. Takamura
    • 2
  • O. Hanagata
    • 3
  • M. Fujita
    • 3
  • J. Pollack
    • 1
  1. 1.Computer Science Dept.Brandeis UniversityWaltham
  2. 2.ER Business Incubation Dept.Sony CorporationTokyoJapan
  3. 3.Group 1, D-21 LabSony CorporationTokyoJapan

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