Studies on Motion Control of a Modular Robot Using Cellular Automata

Abstract. In this paper we report preliminary findings of using cellular automata (CA) as an underlying architecture in controlling the motion of a fivelegged brittle star typed robot. Three control models were incrementally designed making use of genetic algorithm (GA) as well as co-evolutionary algorithm in finding appropriate rules for automaton. Simulations using Open Dynamics Engine (ODE) was used to verify the rules obtained for each of the models. The indications from the results are promising in support for CA as feasible means for motion control.

• Type: Conference
• Year: 2006
• Where: AUSAI
• Authors: Sunil Pranit Lal, Koji Yamada, Satoshi Endo
• Keywords: Artificial Intelligence, AUSAI 2006, Open Dynamics Engine, Preliminary Findings, Star Typed Robot