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Damage recovery for simulated modular robots through joint evolution of morphologies and controllers

Akrour Djouher, Djedi NourEddine

Journal of Automation Mobile Robotics and Intelligent Systems

2019

Vol. 13, No. 1

15--19

In order to be fully autonomous, robots have to be resilient so that they can recover from damages and operate for a long period of time with no human assistance. To be resilient, existing approaches propose to change the robots’ behavior using a different control system when a hardware fault or damage occurs. These approaches are used for robots which have fixed morphologies. However, we cannot assume which morphology would be optimal for a given problem and which morphology allows resilience. In the present paper, we introduce a new approach that generates resilient artificial modular robots by evolving the robot morphology along with its controller. We used a multi-objective evolutionary algorithm to optimize two objectives at a time, which are the traveled distance of a damage-free robot and the traveled distance of the same robot with damaged parts. The result of preliminary experiments demonstrates that during evaluation, when robots are deliberately faced to motor failures, the evolution process can optimize and generate new morphologies for which the robot’s behavior is less affected by damage. This makes the robot capable to recover its ability to move forward.

Zagadnienia projektowania modułowych robotów.

Nieoczym A.

Technologia i Automatyzacja Montażu

2006

nr 2

18-21