Simultaneous Design Method of the Sensory Morphology and Controller of Mobile Robots

DOI Web Site Web Site 1 Citations 26 References
  • Sugiura Komei
    Knowledge Creating Communication Research Center, National Institute of Information and Communications Technology ATR Spoken Language Communication Research Laboratories
  • Kawakami Hiroshi
    Graduate School of Informatics, Kyoto University
  • Katai Osamu
    Graduate School of Informatics, Kyoto University

Bibliographic Information

Other Title
  • 移動ロボットにおけるセンサ形態と制御系の同時設計法
  • イドウ ロボット ニ オケル センサ ケイタイ ト セイギョケイ ノ ドウジ セッケイホウ

Search this article

Abstract

This paper proposes a method that automatically designs the sensory morphology of a mobile robot. The proposed method employs two types of adaptations -ontogenetic and phylogenetic- to optimize the sensory morphology of the robot. In ontogenetic adaptation, reinforcement learning searches for the optimal policy which is highly dependent on the sensory morphology. In phylogenetic adaptation, a genetic algorithm is used to select morphologies with which the robot can learn tasks faster. Our proposed method is applied to the design of the sensory morphology of a line-following robot. We carried out simulation experiments to compare the design solution with a hand-coded robot. The results of the experiments revealed that our robot outperforms a hand-coded robot in terms of the line-following accuracy and learning speed, although our robot has fewer sensors than the hand-coded one. We also manufactured a physical robot using the design solution. The experimental results revealed that this physical robot uses its morphology effectively and outperforms the hand-coded robot.

Journal

Citations (1)*help

See more

References(26)*help

See more

Related Projects

See more

Keywords

Details 詳細情報について

Report a problem

Back to top