Co-evolution of active sensing and locomotion gaits of simulated snake-like robot

We propose an approach of automated co-evolution of the optimal values of attributes of active sensing (orientation, range and timing of activation of sensors) and the control of locomotion gaits of simulated snake-like robot (Snakebot) that result in a fast speed of locomotion in a confined environment. The experimental results illustrate the emergence of a contactless wall-following navigation of fast sidewinding Snakebots. The wall-following is accomplished by means of differential steering, facilitated by the evolutionary defined control sequences incorporating the readings of evolutionary optimized sensors. Categories and Subject Descriptors

• Type: Conference
• Year: 2008
• Where: GECCO
• Authors: Ivan Tanev, Katsunori Shimohara
• Keywords: Fast Sidewinding Snakebots, GECCO 2008, Locomotion Gaits, Optimization, Simulated Snake-like Robot