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Evolution of Controllers from a High-Level Simulator to a High DOF Robot

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Evolvable Systems: From Biology to Hardware (ICES 2000)

Part of the book series: Lecture Notes in Computer Science ((LNCS,volume 1801))

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Abstract

Building a simulator for a robot with many degrees of freedom and various sensors, such as Sony’s AIBO4, is a daunting task. Our implementation does not simulate raw sensor values or actuator commands, rather we model an intermediate software layer which passes processed sensor data to the controller and receives high-level control commands. This allows us to construct a simulator that runs at over 11000 times faster than real time. Using our simulator we evolve a ball-chasing behavior that successfully transfers to an actual AIBO.

AIBO is a registered trademark of Sony Corporation

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Author information

Authors and Affiliations

  1. Computer Science Dept., Brandeis University, Waltham, MA

    G. S. Hornby & J. Pollack

  2. ER Business Incubation Dept., Sony Corporation, 6-7-35, Kitashinagawa, Shinagawa-ku, Tokyo, 141-0001, Japan

    S. Takamura

  3. Group 1, D-21 Lab, Sony Corporation, 6-7-35, Kitashinagawa, Shinagawa-ku, Tokyo, 141-0001, Japan

    O. Hanagata & M. Fujita

Authors
  1. G. S. Hornby
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  2. S. Takamura
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  3. O. Hanagata
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  4. M. Fujita
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  5. J. Pollack
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Editor information

Editors and Affiliations

  1. School of Computer Science Edgbaston, The University of Birmingham, Birmingham, B15 2TT, UK

    Julian Miller

  2. COGS, Sussex University, Brighton, BN1 9RH, UK

    Adrian Thompson

  3. School of Computing, Napier University, Edinburgh, EH14 1DJ, UK

    Peter Thomson

  4. School of Computing Information Systems and Mathematics, South Bank University, London, SE1 0AA, UK

    Terence C. Fogarty

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© 2000 Springer-Verlag Berlin Heidelberg

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Hornby, G.S., Takamura, S., Hanagata, O., Fujita, M., Pollack, J. (2000). Evolution of Controllers from a High-Level Simulator to a High DOF Robot. In: Miller, J., Thompson, A., Thomson, P., Fogarty, T.C. (eds) Evolvable Systems: From Biology to Hardware. ICES 2000. Lecture Notes in Computer Science, vol 1801. Springer, Berlin, Heidelberg. https://doi.org/10.1007/3-540-46406-9_9

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  • DOI: https://doi.org/10.1007/3-540-46406-9_9

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  • Publisher Name: Springer, Berlin, Heidelberg

  • Print ISBN: 978-3-540-67338-5

  • Online ISBN: 978-3-540-46406-8

  • eBook Packages: Springer Book Archive

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