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Communication Dans Un Congrès Année : 2014

Enhancing Humanoids' Walking Skills through Morphogenesis Evolution Method

Résumé

This paper presents an evolution method used to modify the morphology of humanoids to make them more efficient in a specific direction of walking. Starting from the NAO's model used in the 3D Simulation Soccer League, the walking specializations are based on 5 to 8 parameters that are being evolved. A black-box optimization process is run and guided by a decision-making function that defines the outcome of the humanoid evolution process. The simulation results lead to four optimized morphological profiles, each of them specialized for either forward , or lateral, or diagonal walk, or in-place turn respectively. These results could be used to build heterogeneous humanoids inside a team of soccer players.
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Dates et versions

hal-02317153 , version 1 (15-10-2019)

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Nicolas Jouandeau, Vincent Hugel. Enhancing Humanoids' Walking Skills through Morphogenesis Evolution Method. International Conference on Simulation, Modeling, and Programming for Autonomous Robots, Oct 2014, Bergamo, Italy. ⟨10.1007/978-3-319-11900-7_35⟩. ⟨hal-02317153⟩
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