Evolutionary Humanoid Robotics by Malachy Eaton

By Malachy Eaton

This e-book examines how precise strands of study on self sustaining robots, evolutionary robotics and humanoid robotic study, are converging. The booklet should be precious for researchers and postgraduate scholars operating within the components of evolutionary robotics and bio-inspired computing.

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Evolutionary Humanoid Robotics

This booklet examines how distinctive strands of study on self sustaining robots, evolutionary robotics and humanoid robotic examine, are converging. The publication may be necessary for researchers and postgraduate scholars operating within the components of evolutionary robotics and bio-inspired computing.

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Many of these modern simulators employ the open-source Open Dynamics Engine (ODE) physics library at their core. Obviously, the more accurate the robot simulator employed, the higher the chances are of the successful transferral of evolved behaviours to the real robot, an issue we will look at shortly in our discussion of the “reality gap”. This term refers to the discrepancy in performance between behaviours evolved in simulation and the actual performance of the real robot, once these behaviours have been transferred over from the simulator.

Webots has also been used to evolve behaviours for the HOAP-2 humanoid (Hettiarachchi and Iba 2010) and (in simulation only) for the 26 DOF KAIST humanoid robot HSR-VIII (Hong et al. 2009). 3 Open Architecture Human-Centered Robotics Platform (OpenHRP) OpenHRP consists of both a simulation environment and a motion-control library for application to humanoid robot control. Collision detection is incorporated in the simulator, and the consistency between humanoid behaviour in simulation and on the real robot is emphasised (Kanehiro et al.

2009) The word “Cybernetic Human” is a coinage for us to explain a humanoid robot with a realistic head and a realistic figure of a human being. The main initial design goals for the HRP-4C robot were (A) Capability of bipedal walking (B) Realistic figure of a human being (C) Configuration to imitate humanlike motion while design goal (B) was adapted after some consideration to be (B) Realistic figure of the average young Japanese female HRP-4C has 42 DOF in total and weighs 43 kg and is capable of humanlike movement, including bipedal locomotion and dancing.

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