Publikation:

A hormone-based controller for evolutionary multi-modular robotics : From single modules to gait learning

Lade...
Vorschaubild

Dateien

Zu diesem Dokument gibt es keine Dateien.

Datum

2010

Autor:innen

Stradner, Jurgen
Schmickl, Thomas
Crailsheim, Karl

Herausgeber:innen

Kontakt

ISSN der Zeitschrift

Electronic ISSN

ISBN

Bibliografische Daten

Verlag

Schriftenreihe

Auflagebezeichnung

URI (zitierfähiger Link)
ArXiv-ID

Internationale Patentnummer

Angaben zur Forschungsförderung

Projekt

Open Access-Veröffentlichung
Core Facility der Universität Konstanz

Gesperrt bis

Titel in einer weiteren Sprache

Publikationstyp
Beitrag zu einem Konferenzband
Publikationsstatus
Published

Erschienen in

IEEE Congress on Evolutionary Computation. Piscataway, NJ: IEEE, 2010, C-7784. ISSN 1089-778X. eISSN 1941-0026. ISBN 978-1-4244-6911-6. Available under: doi: 10.1109/CEC.2010.5585994

Zusammenfassung

For any embodied, mobile, autonomous agent it is essential to control its actuators appropriately for the faced task. This holds for natural organisms as well as for robots. If several such agents have to cooperate, the coordination of actions becomes important. We present an artificial homeostatic hormone system which is a bio-inspired control paradigm. It allows to control both, a single robot as well a set of cooperating modules in multi-modular reconfigurable robotics. Our approach is inspired by chemical signal-processing and hormone control in animals. Evolutionary computation is used to adapt controllers for two distinct morphological robot configurations (uni-and multi-modular), different environmental conditions, and tasks. This approach is compared to artificial neural networks. Our results indicate, that the proposed control paradigm is well adaptable to different robot morphologies and to different environmental situations. It is able to generate behaviors for several robotic tasks and outperforms neural networks in terms of evolvability in the tested multi-modular robotic setting tested.

Zusammenfassung in einer weiteren Sprache

Fachgebiet (DDC)
004 Informatik

Schlagwörter

Konferenz

2010 IEEE Congress on Evolutionary Computation, 18. Juli 2010 - 23. Juli 2010, Barcelona, Spain
Rezension
undefined / . - undefined, undefined

Forschungsvorhaben

Organisationseinheiten

Zeitschriftenheft

Zugehörige Datensätze in KOPS

Zitieren

ISO 690HAMANN, Heiko, Jurgen STRADNER, Thomas SCHMICKL, Karl CRAILSHEIM, 2010. A hormone-based controller for evolutionary multi-modular robotics : From single modules to gait learning. 2010 IEEE Congress on Evolutionary Computation. Barcelona, Spain, 18. Juli 2010 - 23. Juli 2010. In: IEEE Congress on Evolutionary Computation. Piscataway, NJ: IEEE, 2010, C-7784. ISSN 1089-778X. eISSN 1941-0026. ISBN 978-1-4244-6911-6. Available under: doi: 10.1109/CEC.2010.5585994
BibTex
@inproceedings{Hamann2010hormo-59958,
  year={2010},
  doi={10.1109/CEC.2010.5585994},
  title={A hormone-based controller for evolutionary multi-modular robotics : From single modules to gait learning},
  isbn={978-1-4244-6911-6},
  issn={1089-778X},
  publisher={IEEE},
  address={Piscataway, NJ},
  booktitle={IEEE Congress on Evolutionary Computation},
  author={Hamann, Heiko and Stradner, Jurgen and Schmickl, Thomas and Crailsheim, Karl},
  note={Article Number: C-7784}
}
RDF
<rdf:RDF
    xmlns:dcterms="http://purl.org/dc/terms/"
    xmlns:dc="http://purl.org/dc/elements/1.1/"
    xmlns:rdf="http://www.w3.org/1999/02/22-rdf-syntax-ns#"
    xmlns:bibo="http://purl.org/ontology/bibo/"
    xmlns:dspace="http://digital-repositories.org/ontologies/dspace/0.1.0#"
    xmlns:foaf="http://xmlns.com/foaf/0.1/"
    xmlns:void="http://rdfs.org/ns/void#"
    xmlns:xsd="http://www.w3.org/2001/XMLSchema#" > 
  <rdf:Description rdf:about="https://kops.uni-konstanz.de/server/rdf/resource/123456789/59958">
    <dcterms:title>A hormone-based controller for evolutionary multi-modular robotics : From single modules to gait learning</dcterms:title>
    <foaf:homepage rdf:resource="http://localhost:8080/"/>
    <dc:contributor>Crailsheim, Karl</dc:contributor>
    <dcterms:available rdf:datatype="http://www.w3.org/2001/XMLSchema#dateTime">2023-01-26T15:33:27Z</dcterms:available>
    <dc:language>eng</dc:language>
    <void:sparqlEndpoint rdf:resource="http://localhost/fuseki/dspace/sparql"/>
    <dc:date rdf:datatype="http://www.w3.org/2001/XMLSchema#dateTime">2023-01-26T15:33:27Z</dc:date>
    <dcterms:abstract xml:lang="eng">For any embodied, mobile, autonomous agent it is essential to control its actuators appropriately for the faced task. This holds for natural organisms as well as for robots. If several such agents have to cooperate, the coordination of actions becomes important. We present an artificial homeostatic hormone system which is a bio-inspired control paradigm. It allows to control both, a single robot as well a set of cooperating modules in multi-modular reconfigurable robotics. Our approach is inspired by chemical signal-processing and hormone control in animals. Evolutionary computation is used to adapt controllers for two distinct morphological robot configurations (uni-and multi-modular), different environmental conditions, and tasks. This approach is compared to artificial neural networks. Our results indicate, that the proposed control paradigm is well adaptable to different robot morphologies and to different environmental situations. It is able to generate behaviors for several robotic tasks and outperforms neural networks in terms of evolvability in the tested multi-modular robotic setting tested.</dcterms:abstract>
    <dc:contributor>Hamann, Heiko</dc:contributor>
    <dc:creator>Schmickl, Thomas</dc:creator>
    <dc:contributor>Stradner, Jurgen</dc:contributor>
    <dcterms:isPartOf rdf:resource="https://kops.uni-konstanz.de/server/rdf/resource/123456789/36"/>
    <dc:creator>Stradner, Jurgen</dc:creator>
    <dc:contributor>Schmickl, Thomas</dc:contributor>
    <dcterms:rights rdf:resource="https://rightsstatements.org/page/InC/1.0/"/>
    <dspace:isPartOfCollection rdf:resource="https://kops.uni-konstanz.de/server/rdf/resource/123456789/36"/>
    <bibo:uri rdf:resource="https://kops.uni-konstanz.de/handle/123456789/59958"/>
    <dcterms:issued>2010</dcterms:issued>
    <dc:creator>Hamann, Heiko</dc:creator>
    <dc:rights>terms-of-use</dc:rights>
    <dc:creator>Crailsheim, Karl</dc:creator>
  </rdf:Description>
</rdf:RDF>

Interner Vermerk

xmlui.Submission.submit.DescribeStep.inputForms.label.kops_note_fromSubmitter

Kontakt
URL der Originalveröffentl.

Prüfdatum der URL

Prüfungsdatum der Dissertation

Finanzierungsart

Kommentar zur Publikation

Allianzlizenz
Corresponding Authors der Uni Konstanz vorhanden
Internationale Co-Autor:innen
Universitätsbibliographie
Nein
Begutachtet
Diese Publikation teilen