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Evolutionary Humanoid Robotics 2015 ed. [Pehme köide]

  • Formaat: Paperback / softback, 144 pages, kõrgus x laius: 235x155 mm, kaal: 2467 g, 17 Illustrations, color; 7 Illustrations, black and white; XII, 144 p. 24 illus., 17 illus. in color., 1 Paperback / softback
  • Sari: SpringerBriefs in Intelligent Systems
  • Ilmumisaeg: 11-Mar-2015
  • Kirjastus: Springer-Verlag Berlin and Heidelberg GmbH & Co. K
  • ISBN-10: 3662445980
  • ISBN-13: 9783662445983
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Evolutionary Humanoid Robotics 2015 ed.Suurem pilt
  • Formaat: Paperback / softback, 144 pages, kõrgus x laius: 235x155 mm, kaal: 2467 g, 17 Illustrations, color; 7 Illustrations, black and white; XII, 144 p. 24 illus., 17 illus. in color., 1 Paperback / softback
  • Sari: SpringerBriefs in Intelligent Systems
  • Ilmumisaeg: 11-Mar-2015
  • Kirjastus: Springer-Verlag Berlin and Heidelberg GmbH & Co. K
  • ISBN-10: 3662445980
  • ISBN-13: 9783662445983
Teised raamatud teemal:
Püsilink: https://www.kriso.ee/db/9783662445983.html
Märksõnad:

This book examines how two distinct strands of research on autonomous robots, evolutionary robotics and humanoid robot research, are converging. The book will be valuable for researchers and postgraduate students working in the areas of evolutionary robotics and bio-inspired computing.

Arvustused

"[ The book] sheds light at the intersection of evolutionary search and robotics, with a special focus on humanoid or human-like robots. It is a

skill to hit the right spot between introducing newcomers to a concept while

also informing researchers already in the field. [ The author] manages to do just that by delivering a nice flowing, quick to read book. ... I can recommend this book to starting graduate students in the fields of computer science and/or robotics, or researchers looking to get started with evolutionary robotics. ... The books gaze is on humanoid robotics and Eaton does a good job at defining

the terminology ... describing the various graduations of distinction between

evolutionary robotics and evolutionary humanoid robotics, thus leading the reader to a more fundamental understanding of the levels of humanoid robots. ... a well-written, thoroughly researched introduction ... a wonderful guide for

finding relevant references in the field. I highly recommend it for young researchers starting out in the field of EHR [ and] people interested in the general idea of evolving robotic systems, both for humanoids and non-humanoid

robots."   [ Jürgen Leitner, Genetic Programming and Evolvable Machines, 2015,

DOI 10.1007/s10710-015-9256-2]

1 Introduction
1(8)
1.1 Scope of the Book
1(1)
1.2 Possible Approaches to This Text
2(2)
1.3 Outline of the Book
4(1)
1.4 Brief Discussion of Core Terms: Humanoid, Evolutionary, Robotics
5(1)
1.5 Very Briefly: Why Evolve Bioinspired/Humanoid Robots?
6(1)
1.6 Conclusion
7(2)
2 Evolutionary Algorithms and the Control of Systems
9(12)
2.1 Control of Systems
9(1)
2.2 Recent Rapid Developments in the Field of Intelligent Robotics
9(1)
2.3 Evolutionary Algorithms
10(6)
2.3.1 Genetic Algorithms (GA)
10(5)
2.3.2 Genetic Programming (GP)
15(1)
2.3.3 Evolutionary Strategies (ES)
15(1)
2.3.4 Covariance Matrix Adaptation (CMA) Approach
15(1)
2.3.5 Neuroevolution of Augmenting Technologies (NEAT)
16(1)
2.4 Evolutionary Algorithms for Control---A Simple Example
16(5)
3 Evolutionary Robotics (ER)
21(12)
3.1 Introduction to Evolutionary Robotics
21(1)
3.1.1 Categorisation of Research in ER in Terms of Level of Biological Inspiration and Level of Physical Realisation
21(1)
3.2 Natural Versus Artificial Embodied Evolution
22(1)
3.3 Fitness Functions for Evolutionary Robotics
22(5)
3.3.1 Fitness Function Formulation
23(2)
3.3.2 Design of a Tailored Fitness Function
25(2)
3.4 Evolving "Interesting" Behaviours---What Exactly Constitutes an Interesting Behaviour?
27(1)
3.5 Why Is ER Still a "Fringe" Topic for Many Robotics Researchers?
28(3)
3.5.1 Four Critical Areas for Success in the Application of EHR Techniques
29(2)
3.6 How Might Perceived Failings in the ER Field Be Addressed?
31(2)
4 Humanoid Robots, Their Simulators, and the Reality Gap
33(26)
4.1 Introduction to Humanoid Robotics
33(2)
4.1.1 Some Potential Applications of Humanoid Robots
34(1)
4.1.2 Our Criterion for Inclusion as a Humanoid
35(1)
4.2 Our "Definition" of Humanoid (Levels of Anthropomorphicity)
35(2)
4.2.1 Level 0: Replicant
36(1)
4.2.2 Level 1: Android
36(1)
4.2.3 Level n-3: Humanoid
36(1)
4.2.4 Level n-2: IH (Inferior Humanoid)
36(1)
4.2.5 Level n-1: HI (Human-Inspired)
37(1)
4.2.6 Level n: BFH (Built-for-Human)
37(1)
4.3 Brief Overview of Selected Humanoid Robot Platforms
37(9)
4.3.1 Introduction
37(1)
4.3.2 Humanoid Robot Platforms Used in Evolutionary Robotics Experiments
37(2)
4.3.3 Other Humanoid Robot Platforms
39(6)
4.3.4 Conclusion
45(1)
4.4 Simulators Used for the Evolution of Humanoid Robots
46(5)
4.4.1 Introduction
46(4)
4.4.2 Conclusion and Summary
50(1)
4.5 Crossing the "Reality Gap" Between Simulation and Embodied Robots
51(7)
4.5.1 Introduction
51(1)
4.5.2 The Reality Gap, and Approaches to Minimise Its Impact
51(7)
4.6 Conclusion
58(1)
5 Evolutionary Humanoid Robotics (EHR)
59(26)
5.1 Background to, and Motivation for, Evolutionary Humanoid Robotics
59(3)
5.1.1 Why Treat Evolutionary Humanoid Robotics as a Special Case of Evolutionary Robotics?
60(1)
5.1.2 Why Are Evolutionary Techniques Not Currently More Widely Applied to Humanoid Robot Design?
61(1)
5.2 Approaches to EHR
62(1)
5.2.1 Evolution of Humanoid "Brain"
62(1)
5.2.2 Evolution of Humanoid "Body"/Coevolution of "Body" and "Brain"
62(1)
5.3 Overview of Main Application Domains
63(7)
5.3.1 Bipedal Locomotion
63(1)
5.3.2 Dance
64(2)
5.3.3 Other Locomotive Skills---Kicking, Crawling, Jumping, Ladder Climbing
66(1)
5.3.4 Grasping and Manipulation
66(1)
5.3.5 The Investigation of Human Motor/Locomotive Skills
67(2)
5.3.6 Other Application Areas
69(1)
5.4 Commercial Applications of EHR
70(2)
5.5 Initial Research in EHR
72(9)
5.5.1 EHR "Prehistory"---Developments in HER Prior to 2000
73(8)
5.6 Simple Illustrative Example: The Evolution of Dance
81(4)
5.6.1 An Example Outline Interactive Evolutionary Algorithm for Generating an "Evolutionary Dance"
83(2)
6 The State of the Art in EHR
85(26)
6.1 Developments in EHR from 2000 to the Present
85(12)
6.1.1 The Early Years: 2000--2007
85(12)
6.2 Recent Research Developments in the Field of Evolutionary Humanoid Robotics
97(14)
7 Performance Evaluation and Benchmarking of Humanoid Robots
111(10)
7.1 Introduction
111(2)
7.2 The DARPA Robotics Challenge
113(3)
7.2.1 The DRC Trials
113(2)
7.2.2 The DRC Finals
115(1)
7.3 RoboCup
116(2)
7.3.1 RoboCup@Home/RoboCup@Work
117(1)
7.3.2 RoboCupRescue
118(1)
7.4 FIRA HuroCup
118(1)
7.5 Summary and Conclusions
119(2)
8 Ethical, Philosophical and Moral Considerations
121(8)
8.1 Introduction
121(1)
8.2 Man Versus Machine
122(1)
8.3 The Future Really Doesn't Need Us?
123(1)
8.4 Fear of the Machine?
123(1)
8.5 Technology Taking Over?
124(1)
8.6 A Way Forward?
125(4)
9 Conclusions, and Looking to the Future
129(2)
9.1 Beyond Humanoids---Where to Next?
129(2)
References 131
Dr. Malachy Eaton is a lecturer and researcher in the Dept. of Computer Science and Information Systems of the University of Limerick, Ireland. His interests include evolutionary computing and humanoid robotics.