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Evolution, Robustness, and Adaptation of Sidewinding Locomotion of Simulated Snake-Like Robot
Ivan Tanev1, Thomas Ray2,3, and Andrzej Buller1
1ATR Network Informatics Laboratories, 2-2-2 Hikaridai, “Keihanna Science City”, Kyoto 619-0288, Japan
i_tanev@atr.jp
buller@atr.jp
2ATR Human Information Science Laboratories, 2-2-2 Hikaridai, “Keihanna Science City”, Kyoto 619-0288, Japan
ray@atr.jp
3Department of Zoology, 730 Van Vleet Oval, Room 314, University of Oklahoma Norman, Oklahoma 73019, USA
Abstract. Inspired by the efficient method of locomotion of the rattlesnake Crotalus cerastes, the objective of this work is automatic design through genetic programming, of the fastest possible (sidewinding) locomotion of simulated limbless, wheelless snake-like robot (Snakebot). The realism of simulation is ensured by employing the Open Dynamics Engine (ODE), which facilitates implementation of all physical forces, resulting from the actuators, joints constrains, frictions, gravity, and collisions. Empirically obtained results demonstrate the emergence of sidewinding locomotion from relatively simple motion patterns of morphological segments. Robustness of the sidewinding Snakebot, considered as ability to retain its velocity when situated in unanticipated environment, is illustrated by the ease with which Snakebot overcomes various types of obstacles such as a pile of or burial under boxes, rugged terrain and small walls. The ability of Snakebot to adapt to partial damage by gradually improving its velocity characteristics is discussed. Discovering compensatory locomotion traits, Snakebot recovers completely from single damage and recovers a major extent of its original velocity when more significant damage is inflicted. Contributing to the better understanding of sidewinding locomotion, this work could be considered as a step towards building real Snakebots, which are able to perform robustly in difficult environments.
Keywords: genetic programming, locomotion, snake-like robot
LNCS 3102, p. 627 ff.
lncs@springer.de
© Springer-Verlag Berlin Heidelberg 2004