engleski

Cooperative Coevolutionary approach to dual arm robots’ operation

This paper presents discussion on coevolutionary approach applied to operation of the dual arm robot. The arms have to pick an object and transport it coordinately to a predefined position. The dual arm configuration is a naturally distributed system. To be able to perform distributed work together, high level of coordination between arms is required. Two independent evolutionary algorithms optimize motions of each hand of the simulated robot. Mutual fitness function merges behaviors of collaborating robots to complete the task.

robotics; coevolution; coordination; optimization

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