Skip to main content
SpringerLink
Log in
Book cover

Workshops on Applications of Evolutionary Computation

EvoWorkshops 2003: Applications of Evolutionary Computing pp 651–660Cite as

Evolving Motion of Robots with Muscles

  • Conference paper
  • First Online:

Part of the book series: Lecture Notes in Computer Science ((LNCS,volume 2611))

Abstract

The objective of this work is to investigate how effective smart materials are for generating the motion of a robot. Because of the unique method of locomotion, an evolutionary algorithm is used to evolve the best combination of smart wire activations to move most efficiently. For this purpose, a robot snake was built that uses Nitinol wire as muscles in order to move. The most successful method of locomotion that was evolved, closely resembled the undulating motion of the cobra snake. During experimentation, one of the four Nitinol wires snapped, and the algorithm then enabled adaptive behaviour by the robot by evolving another sequence of muscle activations that more closely resembled the undulations exhibited by the earthworm.

This is a preview of subscription content, log in via an institution.

Chapter
USD   29.95
Price excludes VAT (USA)
  • Available as PDF
  • Read on any device
  • Instant download
  • Own it forever
eBook
USD   84.99
Price excludes VAT (USA)
  • Available as PDF
  • Read on any device
  • Instant download
  • Own it forever
Softcover Book
USD   109.99
Price excludes VAT (USA)
  • Compact, lightweight edition
  • Dispatched in 3 to 5 business days
  • Free shipping worldwide - see info

Tax calculation will be finalised at checkout

Purchases are for personal use only

Learn about institutional subscriptions

Preview

Unable to display preview. Download preview PDF.

Unable to display preview. Download preview PDF.

References

  1. Bentley, P. J. (Ed.) (1999) EvolutionaryDesign by Computers. Morgan Kaufmann Pub.

    Google Scholar 

  2. Haroun Mahdavi, S. (2002) Evolving Motion Master’s Dissertation, MSc IS, University College London, Dept. Computer Science.

    Google Scholar 

  3. Hodgson, Darel E. (2002), Shape Memory Applications, Inc., Ming H. Wu, Memory Technologies, and Robert J. Biermann, Harrison Alloys, Inc. http://www.sma.com/Shape Memory Alloys.htm

  4. Hornby, Gregory S. and Pollack, Jordan. B. (2001). Evolving L-Systems To Generate Virtual Creatures. Computers and Graphics, 25:6, pp 1041–1048.

    Article  Google Scholar 

  5. Husbands, Phil and Meyer, Jean-Arcady (Eds.) (1998) Evolutionary Robotics, First European Workshop, EvoRbot98, Paris, France, April 16-17, 1998, Proceedings. Lecture Notes in Computer Science 1468 Springer 1998, ISBN 3-540-64957-3

    Google Scholar 

  6. Husband Phil., Smith T., Jakobi N. & O’schea M. (1999). Better living through chemistry: Evolving GasNets for robot control. Connection Science, (10)3–-4:185–210.

    Google Scholar 

  7. Jakobi, Nick. (1997), Èvolutionary robotics and the radical envelope of noise hypothesis’, Journal Of Adaptive Behaviour 6(2), 325–368

    Article  Google Scholar 

  8. Kárník, L. (1999) The possible use of artificial muscled in biorobotic mechanism. In ROBTEP’99, Kosice, SF TU Kosice, 1999, pp. 109–114. ISBN 80-7099-453-3.

    Google Scholar 

  9. Meyer Jean-Arcady, Husbands Phil and Harvey Inman (1998) Evolutionary Robotics: A Survey of Applications and Problems. EvoRobots 1998: 1–21

    Google Scholar 

  10. Mihalachi, D. and Munerato, F. (1999) Snake-like mobile micro-robot based on 3 DOF parallel mechanism. In Proc. of PKM’99 MILAN November 30, 1999.

    Google Scholar 

  11. Mihalachi, D. (2000) Systeme de Commande Temps Reel Distribue pour un Mini Robot Autonome de type Serpent. Doctorat de L’Universite de Metz, These Présentée á LÚ.F.R. Mathematique, Informatique, Mecanique, Automatique.

    Google Scholar 

  12. Mills, Jonathan W. (1999) Stiquito for beginners. ISBN 0-8186-7514-4, 1999.

    Google Scholar 

Download references

Author information

Authors and Affiliations

  1. Department of Computer Science, University College London, Gower St. London, WC1E 6BT, UK

    Siavash Haroun Mahdavi & Peter J. Bentley

Authors
  1. Siavash Haroun Mahdavi
    View author publications

    You can also search for this author in PubMed Google Scholar

  2. Peter J. Bentley
    View author publications

    You can also search for this author in PubMed Google Scholar

Editor information

Editors and Affiliations

  1. Dept. of Computer Engineering, University of Parma, Parco Area delle Scienze 181/a, 43100, Parma, Italy

    Stefano Cagnoni

  2. Computing Laboratory, University of Kent, Canterbury, Kent, CT2 7NF, UK

    Colin G. Johnson

  3. Dept. of Information and Communications Technologies Faculty of Computer Science, University of A Coruña, A Coruña, CP 15071, Spain

    Juan J. Romero Cardalda

  4. Dept. of Mathematics and Computer Science, Free University of Amsterdam, de Boelelaan 1081a, 1081 HV, Amsterdam, The Netherlands

    Elena Marchiori

  5. Schol of Systems Engineering, University of Reading, PO Box 225, Whiteknights, Reading, RG6 6AY, UK

    David W. Corne

  6. AnimatLab, 8 rue du capitaine Scott, 75015, Paris, France

    Jean-Arcady Meyer  & Agnès Guillot  & 

  7. SAP AG, Neurottstrasse 16, 69190, Walldorf, Germany

    Jens Gottlieb

  8. Parallel Computing and Complex Systems Group, University of Leipzig, Augustusplatz 10/11, 04109, Leipzig, Germany

    Martin Middendorf

  9. Algorithms and Data Structures Group Institute of Computer Graphics, Vienna University of Technology, Favoritenstrasse 9-11/186, 1040, Vienna, Austria

    Günther R. Raidl

  10. School of Computing, Napier University, 219 Colinton Road, Edinburgh, EH14 1DJ, UK

    Emma Hart

Rights and permissions

Reprints and permissions

Copyright information

© 2003 Springer-Verlag Berlin Heidelberg

About this paper

Cite this paper

Mahdavi, S.H., Bentley, P.J. (2003). Evolving Motion of Robots with Muscles. In: Cagnoni, S., et al. Applications of Evolutionary Computing. EvoWorkshops 2003. Lecture Notes in Computer Science, vol 2611. Springer, Berlin, Heidelberg. https://doi.org/10.1007/3-540-36605-9_59

Download citation

  • DOI: https://doi.org/10.1007/3-540-36605-9_59

  • Published:

  • Publisher Name: Springer, Berlin, Heidelberg

  • Print ISBN: 978-3-540-00976-4

  • Online ISBN: 978-3-540-36605-8

  • eBook Packages: Springer Book Archive

Publish with us

Policies and ethics

Search

Navigation