Co-evolution of morphology and walking pattern of biped humanoid robot using evolutionary computation. Consideration of characteristic of the servomotors

Abstract

In this paper, we present a method for co-evolving morphology and controller of bi-ped humanoid robots. Currently, bi-ped walking humanoid robots are designed manually on trial-and-error basis. Thus, engineers have to design control program for apriori designed morphology, neither of them shown to be optimal within a large design space. We propose… (More)
DOI: 10.1109/IRDS.2002.1041674

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