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Flexible couplings: diffusing neuromodulators and adaptive robotics

ARTIFICIAL LIFE 2005年第1-2期11卷 139-160页

作者： Philippides, A Husbands, P Smith, T O'Shea, M Univ Sussex Dept Informat Ctr Computat Neurosci & Robot Brighton E Sussex England Univ Sussex Dept Biol Ctr Computat Neurosci & Robot Brighton E Sussex England

Recent years have seen the discovery of freely diffusing gaseous neurotransmitters, such as nitric oxide (NO), in biological nervous systems. A type of artificial neural network (ANN) inspired by such gaseous signaling, the GasNet, has previously been shown to be more evolvable than traditional ANNs when used as an artificial nervous system in an evolutionary robotics setting, where evolvability means consistent speed to very good solutions-here, appropriate sensorimotor behavior-generating systems. We present two new versions of the GasNet, which take further inspiration from the properties of neuronal gaseous signaling. The plexus model is inspired by the extraordinary NO-producing cortical plexus structure of neural fibers and the properties of the diffusing NO signal it generates. The receptor model is inspired by the mediating action of neurotransmitter receptors. Both models are shown to significantly further improve evolvability. We describe a series of analyses suggesting that the reasons for the increase in evolvability, are related to the flexible loose coupling of distinct signaling mechanisms, one "chemical" and one "electrical."

关键词： GasNet neuromoduladon evolvability coupling evolutionary robotics

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Pseudo-passive dynamic walkers designed by coupled evolution of the controller and morphology

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robotics AND AUTONOMOUS SYSTEMS 2006年第8期54卷 674-685页

作者： Matsushita, Kojiro Yokoi, Hiroshi Arai, Tamio Univ Tokyo Dept Precis Engn Bunkyo Ku Tokyo 1138656 Japan

In this paper we investigated the morphology and controller of biped robots. We viewed them as design components that together can induce dynamically stable bipedal locomotion. We conducted coupled evolution of the morphology and controller of a biped robot, consisting of nine links and eight joints, actuated by oscillators without sensor feedback in three-dimensional simulation. As a result, both pseudo-passive dynamic walkers and active-control walkers emerged, but the pseudo-passive dynamic walkers showed more dynamic stability than the active-control walkers. This is because compliant components in morphology function as noise filters and passive oscillators. Analysis on this latter class of walkers revealed that this was achieved by two novel functions: self-stabilization and self-regulation. Because these functions were handled by the passive dynamics induced in the robot morphology, due to its compliance, we concluded that a computational trade-off between the controller and morphology occurs in these devices. Finally, we have concluded that appropriate compliance is a key to achieving dynamical stability during locomotion. (c) 2006 Elsevier B.V. All rights reserved.

关键词： bipedal locomotion evolutionary robotics morphological computation passive dynamic walker

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Heritability of morphological and behavioural traits in evolving robots

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evolutionary INTELLIGENCE 2024年第3期17卷 1733-1749页

作者： De Carlo, Matteo Ferrante, Eliseo Zeeuwe, Daan Ellers, Jacintha Eiben, A. E. Vrije Univ Amsterdam Amsterdam Netherlands Autonomous Robot Res Ctr Technol Innovat Inst Abu Dhabi U Arab Emirates

In the field of evolutionary robotics, choosing the correct genetic representation is a complicated and delicate matter, especially when robots evolve behaviour and morphology at the same time. One principal problem is the lack of methods or tools to investigate and compare representations. In this paper we introduce and evaluate such a tool based on the biological notion of heritability. Heritability captures the proportion of phenotypic variation caused by genotypic variation and is often used to better understand the transmissibility of traits in real biological systems. As a proof of concept, we compare the heritability of various robot traits in two systems, one using a direct (tree based) representation and one using an indirect (grammar based) representation. We measure changes in heritability during the course of evolution and investigate how direct and indirect representation can be biased towards more exploration or exploitation throughout the course of evolution. The empirical study shows that heritability can be a useful tool to analyze different representations without running complete evolutionary processes using them.

关键词： evolutionary robotics Morphological evolution Representation Heritability

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Evolution of low-complexity neural controllers based on multiobjective evolution

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ARTIFICIAL LIFE AND robotics 2008年第1-2期12卷 53-58页

作者： Capi, Genci Kaneko, Shin-ichiro Toyama Univ Grad Sch Sci & Engn 3190 Gofuku Toyama 9308555 Japan Toyama Natl Coll Technol Dept Elect Engn Toyama Japan

In this paper, we present a new method based on multiobjective evolutionary algorithms to evolve low-complexity neural controllers for agents that have to perform multiple tasks simultaneously. In our method, each task and the structure of the neural controller are considered as separated objective functions. We compare the results of two different encoding schemes: (1) connectionist encoding, and (2) node-based encoding. The results show that multiobjective evolution can be successfully applied to generate low-complexity neural controllers. In addition, node-based encoding outperformed connectionist encoding in terms of agent performance and the robustness of the neural controller.

关键词： evolutionary robotics Neural controller Task complexity

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Spatial, Temporal, and Modulatory Factors Affecting GasNet Evolvability in a Visually Guided robotics Task

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COMPLEXITY 2010年第2期16卷 35-44页

作者： Husbands, Philip Philippides, Andrew Vargas, Patricia Buckley, Christopher L. Fine, Peter Di Paolo, Ezequiel O'Shea, Michael Univ Sussex Sch Informat Brighton BN1 9QJ E Sussex England Univ Sussex Dept Biol Ctr Computat Neurosci & Robot CCNR Brighton BN1 9QJ E Sussex England Heriot Watt Univ Sch Maths & Comp Sci Edinburgh Midlothian Scotland

Spatial, temporal, and modulatory factors affecting the evolvability of GasNets-a style of artificial neural network incorporating an analogue of volume signalling-are investigated. The focus of the article is a comparative study of variants of the GasNet, implementing various spatial, temporal, and modulatory constraints, used as control systems in an evolutionary robotics task involving visual discrimination. The results of the study are discussed in the context of related research. (C) 2010 Wiley Periodicals, Inc. Complexity 16: 35-44, 2010

关键词： GasNets neuromodulation evolvability volume signalling evolutionary robotics

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A consideration of the biological and psychological foundations of autonomous robotics

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CONNECTION SCIENCE 1998年第3-4期10卷 361-391页

作者： Sharkey, NE Ziemke, T Univ Sheffield Dept Comp Sci Sheffield S1 4DP S Yorkshire England Univ Skovde Dept Comp Sci S-54128 Skovde Sweden

The new wave of robotics aims to provide robots with the capacity to learn, develop and evolve in interaction with their environments using biologically inspired techniques. This work is placed in perspective by considering its biological and psychological basis with reference to some of the grand theorists of living systems. In particular, we examine what it means to have a body by outlining theories of the mechanisms of bodily integration in multicellular organisms and their means of solidarity with the environment. We consider the implications of not having a living body for current ideas on robot learning, evolution, and cognition and issue words of caution about wishful attributions that can smuggle more into observations of robot behaviour than is scientifically supportable. To round off the arguments we take an obligatory swipe at ungrounded artificial intelligence but quickly move on to assess physical grounding and embodiment in terms of the rooted cognition of the living.

关键词： biorobotics embodiment Umwelt grounding rooted cognition robot intelligence adaptive robotics evolutionary robotics

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Behavioural robustness: A link between distributed mechanisms and coupled transient dynamics

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BIOSYSTEMS 2011年第1期105卷 49-61页

作者： Fernandez-Leon, Jose A. Univ Sussex CCNR Brighton BN1 9QG E Sussex England

The emergence of a unified cognitive behaviour relies on the coordination of specialized components that distribute across a 'brain', body and environment. Although a general dynamical mechanism involved in agent-environment integration is still largely unknown for behavioural robustness, discussions here are focussed on one of the most plausible candidate: the formation of distributed mechanisms working in transient during agent-environment coupling. This article provides discussions on this sort of coordination based on a mobile object-tracking task with situated, embodied and minimal agents, and tests for robust yet adaptive behaviour. The proposed scenario provides examples of behavioural mechanisms that counterbalance the functional organization of internal control activity and agents' situatedness to enable the evolution of a two-agent interaction task. Discussions in this article suggest that future studies of distributed cognition should take into account that there are at least two possible modes of interpreting distributed mechanisms and that these have a qualitatively different effect on behavioural robustness. (C) 2011 Elsevier Ireland Ltd. All rights reserved.

关键词： Behavioural robustness Animat evolutionary robotics Genetic algorithm Two-agent interaction Transient dynamics

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Darwinian embodied evolution of the learning ability for survival

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ADAPTIVE BEHAVIOR 2011年第2期19卷 101-120页

作者： Elfwing, Stefan Uchibe, Eiji Doya, Kenji Christensen, Henrik I. JST Okinawa Inst Sci & Technol Initial Res Project Neural Computat Unit Okinawa 9042234 Japan Royal Inst Technol KTH Ctr Autonomous Syst Numer Anal & Comp Sci Stockholm Sweden

In this article we propose a framework for performing embodied evolution with a limited number of robots, by utilizing time-sharing in subpopulations of virtual agents hosted in each robot. Within this framework, we explore the combination of within-generation learning of basic survival behaviors by reinforcement learning, and evolutionary adaptations over the generations of the basic behavior selection policy, the reward functions, and metaparameters for reinforcement learning. We apply a biologically inspired selection scheme, in which there is no explicit communication of the individuals' fitness information. The individuals can only reproduce offspring by mating-a pair-wise exchange of genotypes-and the probability that an individual reproduces offspring in its own subpopulation is dependent on the individual's "health," that is, energy level, at the mating occasion. We validate the proposed method by comparing it with evolution using standard centralized selection, in simulation, and by transferring the obtained solutions to hardware using two real robots.

关键词： Embodied evolution evolutionary robotics reinforcement learning meta-learning shaping rewards metaparameters

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Behavioral robustness: An emergent phenomenon by means of distributed mechanisms and neurodynamic determinacy

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BIOSYSTEMS 2012年第1期107卷 34-51页

作者： Fernandez-Leon, Jose A. Univ Sussex CCNR Brighton BN1 9QG E Sussex England

Theoretical discussions and computational models of bio-inspired embodied and situated agents are introduced in this article capturing in simplified form the dynamical essence of robust, yet adaptive behavior. This article analyzes the general problem of how the dynamical coupling between internal control (brain), body and environment is used in the generation of specific behaviors. Based on the evolutionary robotics (ER) paradigm, four computational models are described to support discussions including descriptions on performance after a series of structural, sensorimotor or mutational perturbations, or are developed in the absence of them. Experimental results suggest that 'dynamic determinacy' - i.e. the continuous presence of a unique dynamical attractor that must be chased during functional behaviors - is a common dynamic phenomenon in the analyzed robust and adaptive agents. These agents show dynamical states that are definitely and unequivocally characterized via transient dynamics toward a unique, yet moving attractor at neural level for coherent actions. This determinacy emerges as a control strategy rooted on behavioral couplings and relies on mechanisms that are distributed on brain, body and environment. Different ways to induce further distribution of behavioral mechanisms are also discussed in this paper from a bio-inspired ER perspective. (C) 2011 Elsevier Ireland Ltd. All rights reserved.

关键词： Behavioral robustness Bio-inspired theoretical biology evolutionary robotics Genetic algorithm Minimal cognition Complex adaptive systems

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Evolution of solitary and group transport behaviors for autonomous robots capable of self-assembling

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ADAPTIVE BEHAVIOR 2008年第5期16卷 285-305页

作者： Gross, Roderich Dorigo, Marco Univ Bristol Sch Biol Sci ANT LAB Bristol BS8 1TH Avon England Univ Libre Bruxelles IRIDIA CoDE Brussels Belgium

Group transport is performed in many natural systems and has become a canonical task for studying cooperation in robotics. We simulate a system of simple, insect-like robots that can move autonomously and grasp objects as well as each other. We use artificial evolution to produce solitary transport and group transport behaviors. We show that robots, even though not aware of each other, can be effective in group transport. Group transport can even be performed by robots that behave as in solitary transport. Still, robots engaged in group transport can benefit from behaving differently from robots engaged in solitary transport. The best group transport behaviors yielded by half of the evolutions let robots organize into self-assembled structures. This provides evidence that self-assembly can provide adaptive value to individuals that compete in an artificial evolution based on task performance. We conclude the article by discussing potential implications for evolutionary biology and robotics.

关键词： group transport solitary social behavior evolution of cooperation self-assembly autonomous robots evolutionary robotics swarm robotics swarm intelligence evolutionary biology

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