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Evolutionary logic circuits for reconfigurable robot

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3 Author(s)
Shindo, T. ; Lab. of Autonomous Syst. Eng., Hokkaido Univ., Sapporo, Japan ; Yokoi, H. ; Kakazu, Y.

Reconfigurable robots have functional flexibility and physical flexibility. A tripod robot is one of the robots having SMA actuators and it is characterized by its symmetrical structure and reconfigurability. When realizing movements of autonomous robots, the model of both the robot and the environment am required for the controller. In this paper, the model for control the tripod robot is generated as a logic circuit by Net-list evolution. The Net-list chromosome is one of the circuit models that abstracted a logic circuit structurally. The generation of the adaptive behavior of the tripod robot and the control model are discussed through the experiment of using a simulator.

Published in:

Systems, Man and Cybernetics, 2002 IEEE International Conference on  (Volume:7 )

Date of Conference:

6-9 Oct. 2002