Sensing and Direction in Locomotion Learning with a Random Morphology Robot

Abstract

Abstract We describe the first instance in sensing and direction with a learning Random Morphology robot. Using sensing and genetic programming, it learns to locomote itself in different directions and by superposition of different solution candidates it can follow an arbitrary path. The robot is assembled of seven standard R/C servo motors, arbitrarily interconnected and an IR sensor that is used to determine distances to nearby objects, thus detect its movements. The architecture of the robot is two dimensional. The robot is trained to move in a direction specified by the distance to the nearest wall in the surroundings. The fitness function reward movement in the given direction with an additional bonus for moving any of the actuators at all