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Artificial life and embodied robotics: current issues and future challenges

ARTIFICIAL LIFE AND robotics 2009年第2期13卷 406-409页

作者： Eaton, Malachy Collins, J. J. Univ Limerick Coll Sci & Engn Dept Comp Sci & Informat Syst Limerick Ireland

In this article we explore some of the issues currently facing researchers in the interface between the twin fields of Artificial Life and robotics, and the challenges and potential synergy of these two areas in the creation of future robotic life forms. There are three strands of research which we feel will be of key importance in the possible development of future embodied artificial life forms. These are the areas of evolutionary robotics and evolutionary humanoid robotics in particular, probabilistic robotics for deliberation, and robot benchmarking with associated metrics and standards. We briefly explore each of these areas in turn, focusing on our current research in each field and what we see as the potential issues and challenges for the future.

关键词： evolutionary humanoid robotics Probabilistic robotics Benchmarking

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Bridging the Reality Gap - A Dual Simulator Approach to the Evolution of Whole-Body Motion for the Nao humanoid Robot 8

Bridging the Reality Gap - A Dual Simulator Approach to the ...

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8th International Joint Conference on Computational Intelligence

作者： Eaton, Malachy Univ Limerick Dept Comp Sci & Informat Syst Limerick Ireland

ISBN: (纸本)9789897582011

We describe a novel approach to the evolution of whole-body behaviours in the Nao humanoid robot using a multi-simulator approach to the alleviation of the reality gap issue. The initial evolutionary process takes place in the V-REP simulator. Once a viable whole-body motion has been evolved, this evolved motion is subsequently transferred for testing onto another simulation platform - Webots. Only when the evolved kicking behaviour has been demonstrated to also be viable on the Webots platform is this behaviour then transferred onto the real Nao robot for testing. This eliminates the time-consuming process of transferring behaviours onto the real robot which have little chance of successfully crossing the reality gap, and also minimises the potential for damage to the real Nao robot and/or it's environment. By using this novel approach of employing two different simulators, each with its own individual strengths and weaknesses, we reduce the likelihood that any individual behaviour will be able to exploit individual simulators' weaknesses, as the other simulator should pick up on this weak point. Using this procedure we have successfully evolved ball kicking behaviour in simulation, which has transferred with reasonable fidelity onto to the real Nao humanoid.

关键词： evolutionary Algorithms humanoid robotics Ball Kicking evolutionary robotics evolutionary humanoid robotics Whole-Body-Motion

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