Co-evolution of Morphology and Walking Pattern of Biped Humanoid Robot Using Evolutionary Computation: Development of Method Using Three Dimensional Model

摘要

In this paper, we present a method for co-evolving morphology and controller of biped humanoid robots. Currently, biped walking humanoid robots are designed manually on trial-and-error basis. Although certain control theory exists, such as zero moment point (ZMP) compensation, these theories do not constrain design space of morphology and detailed control of humanoid robot. Thus, engineers has to design control program for apriori designed morphology, neither of them shown to be optimal within a large design space. We propose evolutionary approaches that enables co-evolution of morphology and control. Two steps of co-evolutions were achieved in a precision dynamics simulator. One is for obtaining the optimal lengths of links using simple multi-link model and the other is for obtaining the optimal geometry of servomotor which is often used for radio control car. Finally, unexpected optimal solutions were discovered. This indicate that a complex design task of biped humanoid can be performed automatically using evolution-based approach, thus varieties of humanoid robots can be designed in speedy manner. This is a major importance to the emerging robotics industries.