论文标题
基于ANN的控制器的形态发展实验
An Experiment in Morphological Development for Learning ANN Based Controllers
论文作者
论文摘要
形态发展是任何人或动物学习的方式的一部分。学习过程始于出生时的形态，并通过变化的形态发展，直到达到成年。从生物学上讲，这似乎有助于学习并使其更强大。但是，当将这种方法转移到机器人系统上时，文献中发现的结果是不一致的：在每种情况下，形态学发展都不提供学习优势。实际上，与固定形态学习相比，它可能导致结果差。在本文中，我们通过一个简单但非常有用的实验来分析一些四倍步行的实验所涉及的问题。从结果中获得了一系列有关在哪些条件以及在哪些条件下应用形态学发展进行学习的初步见解。
Morphological development is part of the way any human or animal learns. The learning processes starts with the morphology at birth and progresses through changing morphologies until adulthood is reached. Biologically, this seems to facilitate learning and make it more robust. However, when this approach is transferred to robotic systems, the results found in the literature are inconsistent: morphological development does not provide a learning advantage in every case. In fact, it can lead to poorer results than when learning with a fixed morphology. In this paper we analyze some of the issues involved by means of a simple, but very informative experiment in quadruped walking. From the results obtained an initial series of insights on when and under what conditions to apply morphological development for learning are presented.
