1A1-E07 A Study on Evolutionary Robotic System Based on Balance between Morphology and Intelligence : Emergent Mechanism of Distance Measurement Functions depending on Tasks(Evolution and Learning for Robotics(1))

Abstract

We clarify a design principle, i.e., emergent mechanism of distance measurement function, by using evolutionary robotic system which designs morphology and intelligence autonomously. In nature, a living creature measures distance to a target by tactile sensors in the case of short range, by a stereo vision in the case of middle range, and by memory of the past state in the case of long range. In this paper, we gave the robot a task keeping distance to a target and investigated functions generated by created body structure and control method. The result showed that the strategy for distance measurement changed from the contact type, to the binocular disparity type, to the binocular disparity with memory type, and to the memory type depending on the target distance as well as nature principle.