水下软足机器人自稳定动态步态的进化发现

Francesco Corucci, M. Calisti, H. Hauser, C. Laschi
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引用次数: 21

摘要

近年来,许多机器人平台已经开发出来,能够在简单的开环控制下进行鲁棒运动。依靠其机械结构的自稳定特性,形态学在设计过程中起着至关重要的作用,然而,通常是由一组启发式原则指导的,这些原则通常被称为具身智能。尽管有许多令人印象深刻的演示,但考虑到设计空间的维度和所涉及的动态效应的复杂纠缠,这种方法的结果可能不是最优的。受越来越多的共识的鼓舞,具体化的解决方案确实可以通过生物启发的计算技术以更自动化的方式产生,这项工作提出了一种计算机辅助方法,通过利用自然进化启发的计算技术,在模拟中探索现有机器人的设计空间。虽然有很多关于进化算法在机器人技术中的应用的研究,但很少有人采用这种设计视角。这个想法是有一个进化过程,向人类设计师提供一些有趣的机器人结构和具体行为,从这些分析中可以获得设计提示,以改进平台。重点将放在提高多足软水下机器人的运动能力上。我们首次调查了最近引入的开放式进化算法(新颖性搜索)对预期研究的适用性,并在与更传统的遗传算法的比较中证明了其优势。结果证实,进化算法确实能够产生新的、复杂的动态步态,进化的设计表现出一些规律。未来可能的方向也指出,其中被动利用机器人的形态特征可以带来额外的优势,实现多样化,鲁棒的行为。
本文章由计算机程序翻译,如有差异,请以英文原文为准。
Evolutionary discovery of self-stabilized dynamic gaits for a soft underwater legged robot
In recent years a number of robotic platforms have been developed, that are capable of robust locomotion in presence of a simple open loop control. Relying on the self-stabilizing properties of their mechanical structure, morphology assumes a crucial role in the design process, that is, however, usually guided by a set of heuristic principles falling under what is commonly known as embodied intelligence. Despite many impressive demonstrations, the result of such a methodology may be sub-optimal, given the dimension of the design space and the complex intertwining of involved dynamical effects. Encouraged by the growing consensus that embodied solutions can indeed be produced by bio-inspired computational techniques in a more automated manner, this work proposes a computer-aided methodology to explore in simulation the design space of an existing robot, by harnessing computational techniques inspired by natural evolution. Although many works exist on the application of evolutionary algorithms in robotics, few of them embrace this design perspective. The idea is to have an evolutionary process suggesting to the human designer a number of interesting robot configurations and embodied behaviors, from whose analysis design hints can be gained to improve the platform. The focus will be on enhancing the locomotion capabilities of a multi-legged, soft, underwater robot. We investigate for the first time the suitability of a recently introduced open-ended evolutionary algorithm (novelty search) for the intended study, and demonstrate its benefits in the comparison with a more conventional genetic algorithm. Results confirm that evolutionary algorithms are indeed capable of producing new, elaborate dynamic gaits, with evolved designs exhibiting several regularities. Possible future directions are also pointed out, in which the passive exploitation of robot's morphological features could bring additional advantages in achieving diverse, robust behaviors.
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