The Evolution of Control and Adaptation in a 3D Powered Passive Dynamic Walker

摘要

Humans demonstrate speed, efficiency, and adaptability when traveling over rugged terrain. Bipedal robots modeled on biological designs could replace or assist people working in difficult environments. However, current research into humanoid robots has not produced practical machines. This paper explores the use of evolutionary robotics to evolve a simulation of a ten-degree of freedom bipedal robot. This machine demonstrates many of the properties of human locomotion. By using passive dynamics and compliant tendons it conserves energy while walking on a flat surface. Its speed and gait can be dynamically adjusted and it is capable of adapting to discrepancies in both its environment and its bodies¿ construction.