Towards the Incorporation of Proprioception in Evolutionary Robotics Controllers

摘要

The ability to sense the relative position of one's own body parts is referred to as proprioception. This sense allows humans to interact with their environment without direct observation. Evolutionary Robotics is a field of study that investigates the automatic development of robotic controllers and morphologies. This paper proposes the idea of providing robotic controllers with a form of proprioception. This was achieved by providing robotic controllers with simulated location information during execution. This study compared controllers with and without proprioception, both in simulation and the real world. The controllers with proprioception outperformed those without, in all trials.