NDLI: Automated robot function recovery after unanticipated failure or environmental change using a minimum of hardware trials

Content Provider	IEEE Xplore Digital Library
Author	Bongard, J.C. Lipson, H.
Copyright Year	2004
Description	Author affiliation: Sibley Sch. of Mech. & Aerosp. Eng., Cornell Univ., Ithaca, NY, USA (Bongard, J.C.; Lipson, H.)
Abstract	Recovering functionality after unanticipated damage or environmental change, using a minimum amount of hardware testing, is a desirable and under-explored topic in evolutionary hardware and evolutionary robotics. In a previous paper, we introduced a two-stage evolutionary algorithm, which we call the estimation-exploration algorithm, that evolves a robot simulator to accurately describe what damage a 'physical' robot has undergone, and then evolves a compensatory neural network in the evolved simulator that, when downloaded to the 'physical' robot, restores functionality. Here we introduce a new fitness metric that allows the algorithm to correctly describe not only complete but also partial failures, and also allows the algorithm to disambiguate between internal damage and external environmental change, based solely on sensory feedback. In most cases only four hardware evaluations are necessary in order to restore complete functionality to the 'physical' robot.
Sponsorship	Nat. Aeronautics and Space Administration (NASA) Dept. of Defense (DoD)
Starting Page	169
Ending Page	176
File Size	596909
Page Count	8
File Format	PDF
ISBN	0769521452
DOI	10.1109/EH.2004.1310827
Language	English
Publisher	Institute of Electrical and Electronics Engineers, Inc. (IEEE)
Publisher Date	2004-06-26
Publisher Place	USA
Access Restriction	Subscribed
Rights Holder	Institute of Electrical and Electronics Engineers, Inc. (IEEE)
Subject Keyword	Robotics and automation Hardware Robot sensing systems Neural networks Automatic control Mobile robots Evolutionary computation Aerospace engineering Aerospace testing Uncertainty
Content Type	Text
Resource Type	Article

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1	Ministry of Education (GoI), Department of Higher Education	Sanctioning Authority	https://www.education.gov.in/ict-initiatives
2	Indian Institute of Technology Kharagpur	Host Institute of the Project: The host institute of the project is responsible for providing infrastructure support and hosting the project	https://www.iitkgp.ac.in
3	National Digital Library of India Office, Indian Institute of Technology Kharagpur	The administrative and infrastructural headquarters of the project	Dr. B. Sutradhar bsutra@ndl.gov.in
4	Project PI / Joint PI	Principal Investigator and Joint Principal Investigators of the project	Dr. B. Sutradhar bsutra@ndl.gov.in Prof. Saswat Chakrabarti will be added soon
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