진화로봇(Evolutionary Robotics)

  • 서기성 (서경대학교 전자공학과)
  • Published : 2010.03.25

Abstract

본 논문에서는 진화로봇의 개념과 기법 및 최근 연구 동향을 소개하고자 한다. 진화로봇의 주요 목표는 지능적이고 자율적인 로봇 또는 제어기를 직접적이고 명시적인 프로그래밍 또는 사람의 개입 없이 자동적으로 구성하는 것이다.

Keywords

References

  1. M. Wahde, Evolutionary Robotics - The Use of Artificial Evolution in Robotics, lROS 2004 Tutorial.
  2. A. L. Nelson, G. J. Barlow, and L. Doitsidis, "Fitness functions in evolutionary robotics: A survey and analysis," Robotics and Autonomous Systems, vol.57,no.4,pp.345-370, Apr. 2009. https://doi.org/10.1016/j.robot.2008.09.009
  3. D. E. Golberg, Genetic Algorithms in Search, Optimization, and Machine Leaning, Addison-Wesley, Reading, MA, 1989.
  4. J. Koza, Genetic, Programming: On the Programming of Computers by Means of Natural Selection, MlT prees, 1992.
  5. D. B. Fogel, Evolμtionary computation: toward a new philosophy of machine intelligence, John Wiley and Sons, 2006.
  6. L. J. Fogel, A. J. Owens, and M. J. Walsh, Artificial Intelligence through Simulated Evolution, John Wiley, 1966.
  7. R. Saravanan, S. Ramabalan, N. G. R. Ebenezer, and C. Dharmaraja, "Evolutionary multi criteria design optimization of robot grippers," Applied Soft Computing, vol. 9, issue 1, pp. 159- 172,2009. https://doi.org/10.1016/j.asoc.2008.04.001
  8. http://unit.aist.go.jp/is/frrg/dsysd/mtran3/
  9. A. Kamimura, H. Kurokawa, E. Yoshida, S. Murata, K Tomita, and S. Kokaji, "Automatic Locomotion Design and Experiments for a Modular Robotic System," IEEE/ASME Trans. on Mechatronics,vol.10,no. 3,pp.314-325, 2005. https://doi.org/10.1109/TMECH.2005.848299
  10. V.Zykov,E.Mytilinaios,M. Desnoyer, and H. Lipson, "Evolved and Designed Self-Reproducing Modular Robotics," IEEE Trans. on Robotics, vol.23,no.2,pp.308-319,2007. https://doi.org/10.1109/TRO.2007.894685
  11. J. Bongard, V, Zykov, and H. Lipson, "Resilient Machines Through Continuous Self-Modeling," Science, vol.314, pp.1118- 1121, Nov. 2006. https://doi.org/10.1126/science.1133687
  12. A. L. Nelson, E. Grant, J. M. Galeotti, and S. Rhody, "Maze exploration behaviors using an inte, intergrated evolutionary robotics environment," Robotics and Autonomous Systems, vol.46, issue 3,pp.159-173,2004. https://doi.org/10.1016/j.robot.2003.11.002
  13. G. S. Homby, S. Takamura, T. Yamamoto, and M. Fujita, "Autonomous Evolution of Dynamic Gaits with Two Quadruped Robots," IEEE Trans. Robotics, vol.21, no. 3,pp.402-410, 2005. https://doi.org/10.1109/TRO.2004.839222
  14. S, Chernova and M. Veloso, "An Evolutionary Approach To Gait learning For Four-Legged Robots," in Proceedings of lROS' 04, Sendai, Japan, pp. 2562-2567, Sep. 2004.
  15. K Seo, S. Hyun, and E. D. Goodman, "Gentic Programming-Based Automatic Gait Generation in Joint Space for a Quadruped Robor," Advanced Robotics, to be published in 2010.
  16. y. Hasegawa, T. Arakawa, and T. Fukuda, "Trajectore generation for biped locomotion Robot," Mechatronics vol.10, issue 1-2 pp.67-89,2000. https://doi.org/10.1016/S0957-4158(99)00052-5
  17. T. Yanase and H. Iba, "Evolutionary Mlllti-Objective Optimization for Biped Walking," Simulated Evolution and Learning, pp.635-644, 2008.
  18. I. Tanev, "Genetic Programming Incorporation Biased Mutation for Evolution and Adaptation of Snakebot," Genetic Programming and Evolvable Machines, vol.8, no.1, pp.39-59, 2007. https://doi.org/10.1007/s10710-006-9008-4
  19. T. Yanase and H. Iba, "Evolutionary Motion Design for Humanoid Robots," Proc. of the Genetic and Evolutionary Conmputation Conference(GECCO), Seattle, pp.1825-1832, July 2006.
  20. S. Kamio and H.lba, "Adaptation technique for integrating genetic programming and reinforcement learning for reaI robots," IEEE Trans. on Evolutionary Computation, vol.9,no.3, pp.318-333,2005. https://doi.org/10.1109/TEVC.2005.850290
  21. G. Baldassarre, V. Trianni, M. Bonani, F. Mondada, M. Dorigo, and S. Nolfi, "Self-Organized Coordinated Motion in Groups of Physically Connected Robots", IEEE Trans. on System, man, and Cybernetics -part B:Cybernetics,vol.37, no.1, pp.224-239,Feb.2007. https://doi.org/10.1109/TSMCB.2006.881299
  22. L. Hohl, R. Tellez, O. Michel, and A. J. ljspeert, "Aibo and Webots: Simulation, wireless remote control and controller transfer," Robotics and Autonomous systems, vol.54,pp.472-485, 2006. https://doi.org/10.1016/j.robot.2006.02.006