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Co-Evolution of Sensor Morphology and Control on a Simulated Legged Robot

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2 Author(s)
Parker, G.B. ; Connecticut Coll., New London ; Nathan, P.J.

This paper discusses utilizing genetic algorithms to automatically design a suitable sensor morphology and controller for a given task in categories of environments. The type of sensors, the heading angle and the range of the sensor, and the rules the controller, are co-evolved. The described method enables the system to decipher information from the environment to determine that is relevant to completing a given task while configuring a minimal controller and number of sensors, thus increasing the overall efficiency of the robot.

Published in:

Computational Intelligence in Robotics and Automation, 2007. CIRA 2007. International Symposium on

Date of Conference:

20-23 June 2007