Evolutionary motion design for humanoid robots

We propose a new approach to generating the motion of humanoid robots intuitively by means of Interactive Evolutionary Computation (IEC). In our system, novice users are able to design effective motions through the subjective evaluation of displayed individuals, even if they do not have any technical knowledge. The motions evolved by the IEC system are not necessarily stable nor feasible in real environments. Thus, appropriate adjustments are required to revise the motions. For this purpose, we use a real-valued GA in a dynamic simulator. We empirically show the effectiveness of our approach by designing a kick motion for a humanoid robot. Categories and Subject Descriptors I.2.9 [ARTIFICIAL INTELLIGENCE]: Robotics General Terms Algorithms, Experimentation Keywords Humanoid Robot, Motion Design, Multi-objective GA, Evolutionary Robotics, Interactive Evolutionary Computation

• Type: Conference
• Year: 2006
• Where: GECCO
• Authors: Toshihiko Yanase, Hitoshi Iba
• Keywords: GECCO 2006, Humanoid Robot, Interactive Evolutionary Computation, Keywords Humanoid Robot, Optimization