论文标题
环境和线性执行器对机器人形态的影响
The Effects of the Environment and Linear Actuators on Robot Morphologies
论文作者
论文摘要
进化机器人技术的领域使用自然进化原理来设计机器人。在本文中，我们研究了在现有的Robogen框架中添加一个受骨骼肌启发的新模块的效果：线性执行器。此外，我们研究机器人在普通环境中的发展与在粗糙环境中进化的机器人不同。我们考虑了定向运动的任务，以比较进化的机器人形态。结果表明，线性执行器的添加对机器人在纯环境中进化的机器人的性能和形态没有重大影响。但是，我们发现在普通环境中进化的机器人的形态存在显着差异，机器人在粗糙的环境中进化。我们发现，当我们改变环境的地形时，出现了更复杂的行为和形态。
The field of evolutionary robotics uses principles of natural evolution to design robots. In this paper, we study the effect of adding a new module inspired by the skeletal muscle to the existing RoboGen framework: the linear actuator. Additionally, we investigate how robots evolved in a plain environment differ from robots evolved in a rough environment. We consider the task of directed locomotion for comparing evolved robot morphologies. The results show that the addition of the linear actuator does not have a significant impact on the performance and morphologies of robots evolved in a plain environment. However, we find significant differences in the morphologies of robots evolved in a plain environment and robots evolved in a rough environment. We find that more complex behavior and morphologies emerge when we change the terrain of the environment.
