Evolutionary humanoid robotics:
Gespeichert in:
| 1. Verfasser: | |
|---|---|
| Format: | Buch |
| Sprache: | English |
| Veröffentlicht: |
Heidelberg [u.a.]
Springer
2015
|
| Schriftenreihe: | SpringerBriefs in intelligent systems, artificial intelligence, multiagent systems, and cognitive robotics
|
| Schlagworte: | |
| Online-Zugang: | Inhaltsverzeichnis |
| Beschreibung: | XII, 144 S. Ill., graph. Darst. |
| ISBN: | 9783662445983 |
Internformat
MARC
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Datensatz im Suchindex
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|---|---|
| adam_text | Contents
1 Introduction......................... ... ....................... 1
1.1 Scope of the Book............................................ 1
1.2 Possible Approaches to This Text.............................. 2
1.3 Outline of the Book........................................ 4
1.4 Brief Discussion of Core Terms: Humanoid, Evolutionary,
Robotics........................................... ....... . 5
1.5 Very Briefly: Why Evolve Bioinspired/Humanoid Robots? ... 6
1.6 Conclusion............................................. 7
2 Evolutionary Algorithms and the Control of Systems.................... 9
2.1 Control of Systems............................................. 9
2.2 Recent Rapid Developments in the Field of Intelligent
Robotics................................................ . 9
2.3 Evolutionary Algorithms..................................... 10
2.3.1 Genetic Algorithms (GA). ........................... 10
2.3.2 Genetic Programming (GP)............................. 15
2.3.3 Evolutionary Strategies (ES).......................... 15
2.3.4 Covariance Matrix Adaptation (CMA) Approach .... 15
2.3.5 Neuroevolution of Augmenting Technologies
(NEAT)............................................ 16
2.4 Evolutionary Algorithms for Control-—A Simple Example .... 16
3 Evolutionary Robotics (ER). ................................. . 21
3.1 Introduction to Evolutionary Robotics....................... 21
3.1.1 Categorisation of Research in ER in Terms
of Level of Biological Inspiration and Level
of Physical Realisation.............................. 21
3.2 Natural Versus Artificial Embodied Evolution............ . 22
3.3 Fitness Functions for Evolutionary Robotics................... 22
3.3.1 Fitness Function Formulation ........................ 23
3.3.2 Design of a Tailored Fitness Function................. 25
ix
X
Contents
3.4 Evolving “Interesting” Behaviours—What Exactly
Constitutes an Interesting Behaviour?...................... 27
3.5 Why Is ER Still a “Fringe” Topic for Many Robotics
Researchers?............................................... 28
3.5.1 Four Critical Areas for Success in the Application
of EHR Techniques..................................... 29
3.6 How Might Perceived Failings in the ER Field
Be Addressed?................................................. 31
4 Humanoid Robots, Their Simulators, and the Reality Gap.............. 33
4.1 Introduction to Humanoid Robotics............................ 33
4.1.1 Some Potential Applications of Humanoid Robots ... 34
4.1.2 Our Criterion for Inclusion as a Humanoid............. 35
4.2 Our “Definition” of Humanoid
(Levels of Anthropomorphicity)................................ 35
4.2.1 Level 0: Replicant.................................... 36
4.2.2 Level 1: Android.................................... 36
4.2.3 Level n—3: Humanoid................................... 36
4.2.4 Level n—2: IH (Inferior Humanoid)..................... 36
4.2.5 Level n— 1: HI (Human-Inspired)....................... 37
4.2.6 Level n: BFH (Built-for-Human)..................... . 37
4.3 Brief Overview of Selected Humanoid Robot Platforms........ 37
4.3.1 Introduction........................................ 37
4.3.2 Humanoid Robot Platforms Used in Evolutionary
Robotics Experiments................................. 37
4.3.3 Other Humanoid Robot Platforms........................ 39
4.3.4 Conclusion............................................ 45
4.4 Simulators Used for the Evolution of Humanoid Robots....... 46
4.4.1 Introduction....................................... . 46
4.4.2 Conclusion and Summary . ............................. 50
4.5 Crossing the “Reality Gap” Between Simulation
and Embodied Robots........................................... 51
4.5.1 Introduction.......................................... 51
4.5.2 The Reality Gap, and Approaches to Minimise
Its Impact ........................................... 51
4.6 Conclusion.................................................... 58
5 Evolutionary Humanoid Robotics (EHR)................................ 59
5.1 Background to, and Motivation for, Evolutionary
Humanoid Robotics............................................. 59
5.1.1 Why Treat Evolutionary Humanoid Robotics
as a Special Case of Evolutionary Robotics? ....... 60
5.1.2 Why Are Evolutionary Techniques Not Currently
More Widely Applied to Humanoid Robot
Design?
61
Contents
5.2 Approaches to EHR........................................... 62
5.2.1 Evolution of Humanoid “Brain”....................... 62
5.2.2 Evolution of Humanoid “Body’VCoe volution
of “Body” and “Brain”............................... 62
5.3 Overview of Main Application Domains........................ 63
5.3.1 Bipedal Locomotion.............................. 63
5.3.2 Dance............................................... 64
5.3.3 Other Locomotive Skills—Kicking, Crawling,
Jumping, Ladder Climbing............................ 66
5.3.4 Grasping and Manipulation........................... 66
5.3.5 The Investigation of Human Motor/Locomotive
Skills............................................ 67
5.3.6 Other Application Areas............................. 69
5.4 Commercial Applications of EHR.............................. 70
5.5 Initial Research in EHR..................................... 72
5.5.1 EHR “Prehistory”֊—Developments in EHR
Prior to 2000 .................................... 73
5.6 Simple Illustrative Example: The Evolution of Dance......... 81
5.6.1 An Example Outline Interactive Evolutionary
Algorithm for Generating an “Evolutionary Dance”. . . 83
6 The State of the Art in EHR.................................... 85
6.1 Developments in EHR from 2000 to the Present................ 85
6.1.1 The Early Years: 2000-2007 ......................... 85
6.2 Recent Research Developments in the Field of Evolutionary
Humanoid Robotics.......................................... 97
7 Performance Evaluation and Benchmarking of Humanoid
Robots........................................................ Ill
7.1 Introduction............................................... Ill
7.2 The DARPA Robotics Challenge............................... 113
7.2.1 The DRC Trials..................................... 113
7.2.2 The DRC Finals..................................... 115
7.3 RoboCup.................................................. 116
7.3.1 RoboCup@Home/RoboCup@Work.......................... 117
7.3.2 RoboCupRescue..................................... 118
7.4 FIRA HuroCup. ......................................... 118
7.5 Summary and Conclusions.................................... 119
8 Ethical, Philosophical and Moral Considerations ............... 121
8.1 Introduction.......................... 121
8.2 Man Versus Machine...................................... 122
8.3 The Future Really Doesn’t Need Us? ........................ 123
XÜ Contents
8.4 Fear of the Machine?................................... . 123
8.5 Technology Taking Over?.................................. 124
8.6 A Way Forward?........................................... 125
9 Conclusions, and Looking to the Future......................... 129
9.1 Beyond Humanoids—Where to Next?.......................... 129
References......................................................... 131
|
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| illustrated | Illustrated |
| indexdate | 2024-07-10T07:04:52Z |
| institution | BVB |
| isbn | 9783662445983 |
| language | English |
| oai_aleph_id | oai:aleph.bib-bvb.de:BVB01-028001483 |
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| physical | XII, 144 S. Ill., graph. Darst. |
| publishDate | 2015 |
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| publishDateSort | 2015 |
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| series2 | SpringerBriefs in intelligent systems, artificial intelligence, multiagent systems, and cognitive robotics |
| spelling | Eaton, Malachy Verfasser (DE-588)1070628506 aut Evolutionary humanoid robotics Malachy Eaton Heidelberg [u.a.] Springer 2015 XII, 144 S. Ill., graph. Darst. txt rdacontent n rdamedia nc rdacarrier SpringerBriefs in intelligent systems, artificial intelligence, multiagent systems, and cognitive robotics Robotik (DE-588)4261462-4 gnd rswk-swf Soft Computing (DE-588)4455833-8 gnd rswk-swf Künstliche Intelligenz (DE-588)4033447-8 gnd rswk-swf Künstliche Intelligenz (DE-588)4033447-8 s Robotik (DE-588)4261462-4 s Soft Computing (DE-588)4455833-8 s DE-604 Erscheint auch als Online-Ausgabe 978-3-662-44599-0 Digitalisierung UB Passau - ADAM Catalogue Enrichment application/pdf http://bvbr.bib-bvb.de:8991/F?func=service&doc_library=BVB01&local_base=BVB01&doc_number=028001483&sequence=000002&line_number=0001&func_code=DB_RECORDS&service_type=MEDIA Inhaltsverzeichnis |
| spellingShingle | Eaton, Malachy Evolutionary humanoid robotics Robotik (DE-588)4261462-4 gnd Soft Computing (DE-588)4455833-8 gnd Künstliche Intelligenz (DE-588)4033447-8 gnd |
| subject_GND | (DE-588)4261462-4 (DE-588)4455833-8 (DE-588)4033447-8 |
| title | Evolutionary humanoid robotics |
| title_auth | Evolutionary humanoid robotics |
| title_exact_search | Evolutionary humanoid robotics |
| title_full | Evolutionary humanoid robotics Malachy Eaton |
| title_fullStr | Evolutionary humanoid robotics Malachy Eaton |
| title_full_unstemmed | Evolutionary humanoid robotics Malachy Eaton |
| title_short | Evolutionary humanoid robotics |
| title_sort | evolutionary humanoid robotics |
| topic | Robotik (DE-588)4261462-4 gnd Soft Computing (DE-588)4455833-8 gnd Künstliche Intelligenz (DE-588)4033447-8 gnd |
| topic_facet | Robotik Soft Computing Künstliche Intelligenz |
| url | http://bvbr.bib-bvb.de:8991/F?func=service&doc_library=BVB01&local_base=BVB01&doc_number=028001483&sequence=000002&line_number=0001&func_code=DB_RECORDS&service_type=MEDIA |
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