Abstract
In this paper we present an approach to transform individual behaviour of homogenous sub-systems to yield desired global behaviour of the overall system. As a test bed we consider the brittle star robot as the system which is composed of homogenous modules (sub-systems). Using genetic algorithm, the rotational motion of the individual modules is translated into rectilinear motion of the robot. We argue that given a set of sub-system level behaviours, it is better to discover intermediate system level infinitesimal behaviours as a stepping stone to developing desired system level global behaviour.
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© 2008 Springer-Verlag Berlin Heidelberg
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Lal, S.P., Yamada, K., Endo, S. (2008). Emergent Motion Characteristics of a Modular Robot through Genetic Algorithm. In: Huang, DS., Wunsch, D.C., Levine, D.S., Jo, KH. (eds) Advanced Intelligent Computing Theories and Applications. With Aspects of Artificial Intelligence. ICIC 2008. Lecture Notes in Computer Science(), vol 5227. Springer, Berlin, Heidelberg. https://doi.org/10.1007/978-3-540-85984-0_28
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DOI: https://doi.org/10.1007/978-3-540-85984-0_28
Publisher Name: Springer, Berlin, Heidelberg
Print ISBN: 978-3-540-85983-3
Online ISBN: 978-3-540-85984-0
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