ACQUISITION OF JUMPING BEHAVIOR ON THE ARTIFICIAL CREATURE UNDER VIRTUAL PHYSICAL ENVIRONMENT

Yuta Umemura, Ikuo Suzuki, Masahito Yamamoto, Masashi Furukawa

Abstract

Walking and jumping are very effective movement in a debris area. However, it is difficult to jump successively because it has a lot of difficulties (e.g. controlling the strong power at taking off and suppressing an impact at landing). This paper proposes how to acquire the successive jumping motion. We model an artificial creature like a locust under the physical virtual environment and control it by using Artificial Neural Network (ANN). In order to realize the successive jumping motion, this paper proposes a concept of “Behavior Simple (BS)” and “Behavior Composed (BC)”. The concept of BC is that a complex behavior is composed of plural simple behaviors. We consider that the successive jumping is divided into three BSs, taking off, getting up and returning leg back motion. After three BSs are trained by using the Real-Coded Genetic Algorithm (RCGA) independently, BC is trained by using RCGA as well. Experiments verify that the efficient successive jumping can be acquired.

References

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Paper Citation


in Bibtex Style

@conference{ecta11,
author={Yuta Umemura and Ikuo Suzuki and Masahito Yamamoto and Masashi Furukawa},
title={ACQUISITION OF JUMPING BEHAVIOR ON THE ARTIFICIAL CREATURE UNDER VIRTUAL PHYSICAL ENVIRONMENT},
booktitle={Proceedings of the International Conference on Evolutionary Computation Theory and Applications - Volume 1: ECTA, (IJCCI 2011)},
year={2011},
pages={311-314},
publisher={SciTePress},
organization={INSTICC},
doi={10.5220/0003671903110314},
isbn={978-989-8425-83-6},
}


in EndNote Style

TY - CONF
JO - Proceedings of the International Conference on Evolutionary Computation Theory and Applications - Volume 1: ECTA, (IJCCI 2011)
TI - ACQUISITION OF JUMPING BEHAVIOR ON THE ARTIFICIAL CREATURE UNDER VIRTUAL PHYSICAL ENVIRONMENT
SN - 978-989-8425-83-6
AU - Umemura Y.
AU - Suzuki I.
AU - Yamamoto M.
AU - Furukawa M.
PY - 2011
SP - 311
EP - 314
DO - 10.5220/0003671903110314


in Harvard Style

Umemura Y., Suzuki I., Yamamoto M. and Furukawa M. (2011). ACQUISITION OF JUMPING BEHAVIOR ON THE ARTIFICIAL CREATURE UNDER VIRTUAL PHYSICAL ENVIRONMENT . In Proceedings of the International Conference on Evolutionary Computation Theory and Applications - Volume 1: ECTA, (IJCCI 2011) ISBN 978-989-8425-83-6, pages 311-314. DOI: 10.5220/0003671903110314