Abstract
Evolutionary techniques are applied to develop the neural control of humanoid robots. These robots were designed to act as agents in embodied language games. The basic ingredients needed to bring forth the desired behaviors are described: an appropriate physical simulator of the robots, an interactive evolution environment and various analysis tools. A modular approach to neural control is taken and is supported by a corresponding evolutionary algorithm, such that complete neural control networks are composed of specific functional units, the so called neuro-modules. Examples of such modules are described and their use is demonstrated by means of two developed networks for a walking and a gesture behavior.
Access this chapter
Tax calculation will be finalised at checkout
Purchases are for personal use only
Preview
Unable to display preview. Download preview PDF.
Similar content being viewed by others
References
Floreano D, Husbands P, Nolfi S (2008) Evolutionary Robotics. In: Siciliano B, Khatib O (eds) Springer Handbook of Robotics, Springer, pp 1423–1451
Goldberg D (1989) Genetic algorithms in search, optimization, and machine learning. Addison-wesley
Hagglund T (1995) PID Controllers: Theory, Design and Tuning. Isa
Hild M, Siedel T, Benckendorff C, Kubisch M, Thiele C (2011) Myon: Concepts and design of a modular humanoid robot which can be reassembled during runtime. Proceedings of the 14th International Conference on Climbing andWalking Robots and the Support Technologies for Mobile Machines (CLAWAR 2011)
Hild M, Siedel T, Benckendorff C, Thiele C, Spranger M (2012) Myon, a New Humanoid. In: Steels L, Hild M (eds) Language Grounding in Robots, Springer, New York
Hulse M, Pasemann F (2002) Dynamical neural Schmitt trigger for robot control. In:
Dorronsoro J (ed) Artificial Neural Networks - ICANN 2002, International Conference, Madrid, Spain, August 28-30, 2002. Proceedings. LNCS 2415, Springer Verlag, Berlin, pp 783–788
Kitano H, Asada M, Kuniyoshi Y, Noda I, Osawa E (1997) Robocup: The robot world cup initiative. In: Proceedings of the first international conference on Autonomous agents, ACM, pp 340–347
Nolfi S, Floreano D (2000) Evolutionary Robotics. ISBN-13: 978-0-262-14070-6, MIT Press
Nusse H, Yorke J, Hunt B, Kostelich E (1998) Dynamics: numerical explorations. Springer
Pasemann F, Hild M, Zahedi K (2003) SO(2)-Networks as neural oscillators. Computational Methods in Neural Modeling 2686/2003:144–151
Peterka RJ (2009) Comparison of human and humanoid robot control of upright stance. Journal of Physiology-Paris 103(3–5):149–158
RempisCW, Pasemann F (2010) Search space restriction of neuro-evolution through constrained modularization of neural networks. In: Mandai K (ed) Proceedings of the 6th International Workshop on Artificial Neural Networks and Intelligent Information
Processing (ANNIIP), in Conjunction with ICINCO 2010., SciTePress, Madeira, Portugal, pp 13–22
Rempis CW, Thomas V, Bachmann F, Pasemann F (2010) NERD - Neurodynamics and Evolutionary Robotics Development Kit. In: et al NA (ed) SIMPAR 2010, Springer, Heidelberg, Lecture Notes in Artificial Intelligence, vol 6472, pp 121– 132
Smith R (2001) The Open Dynamics Engine (ODE) http://www.ode.org. URL http://www.ode.org
von Twickel A, Buschges A, Pasemann F (2011a) Deriving neural network controllers from neuro-biological data – implementation of a single-leg stick insect controller. Biological Cybernetics 104(1 2):95–119 von Twickel A, Hild M, Siedel T, Patel V, Pasemann F (2011b) Neural control of a modular multi-legged walking machine: Simulation and hardware. Robotics and Autonomous Systems In press, doi:10.1016/j.robot.2011.10.006
von Twickel A, Pasemann F (2007) Reflex-oscillations in evolved single leg neurocontrollers for walking machines. Natural Computing 6(3):311–337
Yang JF, Lamont EV, Pang MYC (2005) Split-belt treadmill stepping in infants suggests autonomous pattern generators for the left and right leg in humans. The Journal of Neuroscience 25(29):6869–6876
Author information
Authors and Affiliations
Corresponding author
Editor information
Editors and Affiliations
Rights and permissions
Copyright information
© 2012 Springer Science+Business Media, LLC
About this chapter
Cite this chapter
Pasemann, F., Rempis, C., von Twickel, A. (2012). Evolving Humanoid Behaviors for Language Games. In: Steels, L., Hild, M. (eds) Language Grounding in Robots. Springer, Boston, MA. https://doi.org/10.1007/978-1-4614-3064-3_4
Download citation
DOI: https://doi.org/10.1007/978-1-4614-3064-3_4
Published:
Publisher Name: Springer, Boston, MA
Print ISBN: 978-1-4614-3063-6
Online ISBN: 978-1-4614-3064-3
eBook Packages: Computer ScienceComputer Science (R0)