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Joint evolution of morphologies and controllers for realistic modular robots

Akrour, Djouher and Cussat-Blanc, Sylvain and Sanchez, Stéphane and Djedi, Nouredinne and Luga, Hervé Joint evolution of morphologies and controllers for realistic modular robots. (2017) In: 22nd Symposium on Artificial Life And Robotics (AROB 2017), 19 January 2017 - 21 January 2017 (Beppu, Japan).

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Following Karl Sims seminal works, many approaches from the literature aims at generating artificial creatures using body-brain co-evolution. However, in simulation, creatures are not very realistic, they cannot be tested in physical robots. In this paper, we propose a system that can generate realistic walking artificial creatures. We co-evolve the morphology and the controller of virtual modular robots using GA. The morphology is generated by Graphtals while the global behavior of a creature is done by the cooperation of robot's modules moves. Each module has its own local controller, here based on an ANN. We integrate our system in Gazebo, a popular realistic robotic simulator. Experimental results show the capacity of our approach to generate realistic morphologies and behaviors with simulator parameters set up with realistic values. We expect the virtual robots generated with our system and trained in a realistic robotic simulator to better bridge the gap to reality.

Item Type:Conference or Workshop Item (Paper)
HAL Id:hal-01782566
Audience (conference):International conference proceedings
Uncontrolled Keywords:
Institution:French research institutions > Centre National de la Recherche Scientifique - CNRS (FRANCE)
Université de Toulouse > Institut National Polytechnique de Toulouse - Toulouse INP (FRANCE)
Université de Toulouse > Université Toulouse III - Paul Sabatier - UT3 (FRANCE)
Université de Toulouse > Université Toulouse - Jean Jaurès - UT2J (FRANCE)
Université de Toulouse > Université Toulouse 1 Capitole - UT1 (FRANCE)
Other partners > Université Mohamed Khider de Biskra (ALGERIA)
Laboratory name:
Deposited On:03 Apr 2018 07:54

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