The evolution of control and adaptation in a 3D powered passive dynamic walker

Vaughan, Eric D, Di Paolo, Ezequiel and Harvey, Inman R (2004) The evolution of control and adaptation in a 3D powered passive dynamic walker. In: Proceedings of the Ninth International Conference on the Simulation and Synthesis of Living Systems, ALIFE'9, Boston, MA, USA.

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Abstract

Humans demonstrate speed, efficiency, and adaptability when traveling over rugged terrain. Bipedal robots modeled on biological designs could replace or assist people working in difficult environments. However, current research into humanoid robots has not produced practical machines. This paper explores the use of evolutionary robotics to evolve a simulation of a ten-degree of freedom bipedal robot. This machine demonstrates many of the properties of human locomotion. By using passive dynamics and compliant tendons it conserves energy while walking on a flat surface. Its speed and gait can be dynamically adjusted and it is capable of adapting to discrepancies in both its environment and its bodies¿ construction.

Item Type: Conference or Workshop Item (Paper)
Schools and Departments: School of Engineering and Informatics > Informatics
Depositing User: Ezequiel Alejandro Di Paolo
Date Deposited: 06 Feb 2012 20:03
Last Modified: 13 Apr 2012 12:38
URI: http://sro.sussex.ac.uk/id/eprint/23806
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