Morphogenetic Evolvable Hardware Controllers for Robot Walking

Lee, Justin A. & Sitte, Joaquin (2003) Morphogenetic Evolvable Hardware Controllers for Robot Walking. In Rueckert, Ulrich & Sitte, Joaquin (Eds.) 2nd International Symposium on Autonomous Minirobots for Research and Edutainment (AMiRE 2003), Feb. 18-20, 2003, Brisbane, Australia.


We propose to develop reactive robot leg controllers in hardware using a morphogenetic approach that incorporates both evolutionary and developmental processes. Evolvable hardware has been crippled by issues of scalability and viability of evolved designs that arise when evolving complex circuits on modern mainstream field programmable gate arrays (FPGAs). To overcome these limitations requires a shift away from direct encodings of the FPGA configuration to encoding a growth process, morphogenesis, thus moving the complexity from the genotype to the genotype-phenotype mapping. Although a few researchers have attempted this, how to successfully apply morphogenesis to evolvable hardware still remains an open question.

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ID Code: 1806
Item Type: Conference Paper
Refereed: Yes
Keywords: evolvable hardware, EHW, morphogenesis, field programmable gate array, FPGA, reconfigurable hardware, robot walking
Subjects: Australian and New Zealand Standard Research Classification > ENGINEERING (090000) > ELECTRICAL AND ELECTRONIC ENGINEERING (090600) > Electrical and Electronic Engineering not elsewhere classified (090699)
Australian and New Zealand Standard Research Classification > INFORMATION AND COMPUTING SCIENCES (080000) > ARTIFICIAL INTELLIGENCE AND IMAGE PROCESSING (080100) > Adaptive Agents and Intelligent Robotics (080101)
Divisions: Past > QUT Faculties & Divisions > Faculty of Science and Technology
Copyright Owner: Copyright 2003 (please consult author)
Deposited On: 07 Jul 2005 00:00
Last Modified: 29 Feb 2012 12:59

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