Pouroullis, Alexandros and Blore, David and Scott, Michael and Smith, Julius and Mkhatshwa, Sindiso and Nitschke, Geoff (2025) Automating Damage Recovery in a Legged Robot, Proceedings of Proceedings of the IEEE Symposium Series on Computational Intelligence (IEEE SSCI 2025), Trondheim, Norway, IEEE Press.
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Abstract
Autonomous robots are increasingly used in remote and hazardous environments, where automated recovery given damage to sensory-actuator systems would be extremely beneficial. Such robots must therefore have controllers that continue to function effectively given unexpected hardware malfunctions and damage. We evaluate various controller types (oscillatorstyle central pattern generators and artificial neural networks), for producing adaptable gait behaviors. These controller types are run for hexapod robot gait control in concert with the Intelligent Trial and Error (IT&E) and Map-Elites algorithm to maintain behavioral diversity. Specifically, we investigate the impact of behavior map-size in MAP-Elites (the first phase of the IT&E algorithm), in company with various controller types for multiple leg failures scenarios using a simulated hexapod robot. Results support previous work demonstrating a trade-off between adapted gait speed and controller adaptability across leg-damage scenarios, where map-size is crucial for generating behavioral diversity required for adaptation.
| Item Type: | Conference paper |
|---|---|
| Subjects: | Computing methodologies > Artificial intelligence Computer systems organization > Embedded and cyber-physical systems > Robotics |
| Date Deposited: | 13 Oct 2025 12:26 |
| Last Modified: | 13 Oct 2025 12:26 |
| URI: | https://pubs.cs.uct.ac.za/id/eprint/1743 |
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