Fractal Gene Regulatory Networks for Robust Locomotion Control of Modular Robots

Payam Zahadat, David Johan Christensen, Ulrik Pagh Schultz, Serajeddin Katebi, Kasper Stoy

Research output: Chapter in Book/Report/Conference proceedingArticle in proceedingsResearchpeer-review

1 Downloads (Pure)

Abstract

Designing controllers for modular robots is difficult due to the distributed and dynamic nature of the robots. In this paper fractal gene regulatory networks are evolved to control modular robots in a distributed way. Experiments with different morphologies of modular robot are performed and the results show good performance compared to previous results achieved using learning methods. Furthermore, some experiments are performed to investigate evolvability of the achieved solutions in the case of module failure and it is shown that the system is capable of come up with new effective solutions.
Keyword: Robot Control,Evolutionary Computation,Modular Robots,Fractal Gene Regulatory Networks
Original languageEnglish
Title of host publicationFrom Animals to Animats 11
EditorsS Doncieux, B Girard, A Guillot, J Hallam, J-A Meyer, J-B Mouret
PublisherSpringer
Publication date2010
Pages544-554
DOIs
Publication statusPublished - 2010
Externally publishedYes
Event11th International Conference on Simulation of Adaptive Behavior - Paris, France
Duration: 25 Aug 201028 Aug 2010
Conference number: 11

Conference

Conference11th International Conference on Simulation of Adaptive Behavior
Number11
CountryFrance
CityParis
Period25/08/201028/08/2010
SeriesLecture Notes in Computer Science
Number6226
ISSN0302-9743

Cite this

Zahadat, P., Christensen, D. J., Schultz, U. P., Katebi, S., & Stoy, K. (2010). Fractal Gene Regulatory Networks for Robust Locomotion Control of Modular Robots. In S. Doncieux, B. Girard, A. Guillot, J. Hallam, J-A. Meyer, & J-B. Mouret (Eds.), From Animals to Animats 11 (pp. 544-554). Springer. Lecture Notes in Computer Science, No. 6226 https://doi.org/10.1007/978-3-642-15193-4_51