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Artificial Life and Robotics

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05-01-2022 | Original Article

Evolving collective step-climbing behavior in multi-legged robotic swarm

Authors: Daichi Morimoto, Motoaki Hiraga, Naoya Shiozaki, Kazuhiro Ohkura, Masaharu Munetomo

Published in: Artificial Life and Robotics | Issue 2/2022

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Abstract

This paper focuses on generating the collective step-climbing behavior of a multi-legged robotic swarm. Most studies on swarm robotics develop collective behaviors in a flat environment using mobile robots equipped with wheels. However, these types of robots could only show relatively simple behavior, which limits a task that could be addressed by a robotic swarm. This paper deals with a step-climbing task, in which a robotic swarm climbs a step that is too high for a single robot. The robots have to use other robots as a foothold to achieve the task. To generate such three-dimensional behavior, a robotic swarm is conducted using the multi-legged robot inspired by ants. The robot controller is obtained by the combination of the neuroevolution approach with manual designed methods. The results of the computer simulations show that the designed controller successfully achieve the step-climbing task.

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Title: Evolving collective step-climbing behavior in multi-legged robotic swarm
Authors: Daichi Morimoto
Motoaki Hiraga
Naoya Shiozaki
Kazuhiro Ohkura
Masaharu Munetomo
Publication date: 05-01-2022
Publisher: Springer Japan
Published in: Artificial Life and Robotics / Issue 2/2022
Print ISSN: 1433-5298
Electronic ISSN: 1614-7456
DOI: https://doi.org/10.1007/s10015-021-00725-8

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