Brooks, R. (1992). Artificial life and real robots. In Varela, F. and Bourgine, P., editors, Toward a practice of autonomous systems: Proceedings of the First European Conference on Artificial Life, pages 3--10. MIT Press.  Home/Search   Document Details and Download   Summary   Related Articles   Check

....two approaches: 1) using a real robot for the experiments, or (2) using a simulated robot. The pros and cons for each of the solutions cannot be listed here, since the literature would fill several book shelves. A short introduction into the discussion with additional references can be found in [4]. For our purposes, the real robot solution has been favored, for several reasons: i) a real robot comes along with real world problems, not with artificial ones. ii) The results of a machine learning technique like GP can impressively be demonstrated with a real walking robot, much more ....

R. Brooks. Artificial life and real robots. In European Conference on Artificial Life, pages 3 10, 1992.

....not of any help. But simulation is a good tool for finding inconsistencies . This means that the first condition could be a reason for using simulation. The question if it can also help in finding theories that can be used practically is a really di#cult one to answer. Rodney Brooks writes in [Brooks, 1992]: Previously we have been very careful to avoid using simulations for two fundamental reasons: 1. Without regular validation on real robots there is a great danger that much e#ort will go into solving problems that simply do not come up in the real world with a physical robot. 2. There is a ....

Rodney A. Brooks. Artificial life and real robots. In Francisco J. Varela and Paul Bourgine, editors, Towards a practice of autonomous systems: Proceedings of the first European Conference on Artificial Life (ECAL 91), pages 3--10. MIT Press, 1992.

....An alternative view of artificial life uses computation to control robots in a real physical world. Although in this approach the more fundamental philosophical issues are not as apparent, it has the enormous advantage in a practical sense of using the physical world at face value. As Brooks [6] understates the point: It is very hard to simulate the actual dynamics of the real world. My first answer to the spider s question is that we can only compare life to nonlife, that is, to the nonliving world from which life arises and evolves. Artificial life must be compared with a real or an ....

Brooks, R., 1992, Artificial life and real robots. In Toward a Practice of Autonomous Systems, F. Varela and P. Bourgine, eds, MIT Press, Cambridge, MA, pp. 3-10.

....[Brooks, 1991a, page 577] As Brooks points out, a complete model of the world is hard for a robot to construct because, The data delivered by sensors are not direct descriptions of the world as objects and their relationships [and] commands to actuators have very uncertain effects. Brooks, 1991b, page 5] Without ignoring the lessons of the early Seventies, the nascent area of Cognitive Robotics [Lesprance, et al. 1994] seeks to reinstate the ideals of the Shakey project, namely the construction of robots whose architecture is based on the idea of representing the world by sentences of ....

R.A.Brooks, Artificial Life and Real Robots, Proceedings of the First European Conference on Artificial Life (1991), pp 3--10.

....and so does what is really evolved: connections weights; weights and connections; weights, connections, and number of neurones, etc. Programs Several authors propose the use of extended versions of genetic programming (GP) Koza92] to evolve programs capable of controlling the robot. [Brooks92] suggests the use of GP with a high level behavioural language. Bhanzaf97] uses GP to evolve assembly code, which maps sensorial inputs into actuator actions. Rule Based Systems [Dorigo93] and [Grefenstette94] use several forms of classifier systems, or rule based systems, where the rules are ....

R. Brooks, "Artificial Life and Real Robots", Towards a Practice of Autonomous Systems: Proceedings of the First European Conference on Artificial Life, MIT Press, Cambridge, MA, 1992, pp. 3-10.

....of natural selection instead of more complex engineering techniques. Evolutionary approaches to agent synthesis can be divided in three main groups according with the representation used for the individuals: Neural networks [4, 8, 10] Rule based systems [6, 7, 9] Computer programs [1, 2]. The choice of the most appropriate controller architecture for autonomous agents is the center of an ongoing discussion [2, 15] which will probably never end. But from it we can conclude that the use of very specific representations has obvious disadvan tages in the fact that when the approach ....

.... in three main groups according with the representation used for the individuals: Neural networks [4, 8, 10] Rule based systems [6, 7, 9] Computer programs [1, 2] The choice of the most appropriate controller architecture for autonomous agents is the center of an ongoing discussion [2, 15] which will probably never end. But from it we can conclude that the use of very specific representations has obvious disadvan tages in the fact that when the approach fails to find a solution to a given problem, a lot of effort is needed to start over, using a new representation and ....

R. Brooks, "Artificial Life and Real Robots", Towards a Practice of Autonomous Systems: Proceedings of the First European Conference on Artificial Life, MIT Press, Cambridge, MA, 1992, pp. 3-10.

....adaptation to the environment. Individual adaptation, especially learning, has been a topic of various researches. Despite of the success made, for example reinforcement learning, it has not solved all problems. We need also the evolutionary approach. Brooks himself has acknowledged this in [1]. In this paper we propose a method where behavior is not defined explicitly. Instead, it emerges from the neural network level. Furthermore the neural network, its input (sensors) and its output (effectors) will each adapt to the environment in a dynamic process. Thus the behavior is a dynamic ....

R. Brooks, "Artificial life and real robots," in Varela and Bourgine [5], pp. 3--10.

....earlier demonstrated to function on a real robot programmed 54 in the subsumption architecture [70] The primitive building blocks of the behavior programs are in this case the sensory inputs and action parameter outputs, Boolean connectives, conditionals, and the subsumption primitives. Brooks [23] has however criticised these results, mostly because the primitive building blocks were well chosen (based on an analysis of a known solution) and simplifying assumptions were made concerning the Boolean nature of certain conditionals. Off line evolution creates a new problem, which is the gap ....

....Off line evolution creates a new problem, which is the gap between the virtual world of the simulator and the real world. Koza [57] uses a very simple virtual world. Cliff, Husbands and Harvey [26] use a much more sophisticated simulation to test out the fitness of a solution. But, as Brooks [23] points out, the gap between simulated and real world will always remain quite large. One possible way out is to use the real robot as soon as reasonable solutions have been discovered. An example application of this technique is discussed in [105] The application concerns the optimisation of ....

Brooks, R. (1992) Artificial life and real robots. In: F.J. Varela and P. Bourgine (eds.) Toward a Practice of Autonomous Systems. Proceedings of the First European Conference on Artificial Life. MIT Press/Bradford Books, Cambridge Ma. p. 3-10.

....world (Harvey 1992) Adaptation need not be on an individual scale alone, as accumulative change over generations can be thought of as adaptation on a longer timescale. But what class of physical system should be evolved in this fashion Why not some programming language, as advocated by Brooks (Brooks 1992) There are good grounds for thinking that a generalised form of connectionist network could be one very appropriate class. Let us start with three basic axioms: 1. The brain should be a physical system, occupying a physical volume with a finite number of input and output points on its ....

Rodney A. Brooks. Artificial life and real robots. In Proceedings of the First European Conference on Artificial Life. MIT Press/Bradford Books, Cambridge, MA, 1992.

....15] A primary means of gathering distal sensory information is by use of visual sensing, so we believe visually guided agents should be studied from as early a stage as possible. ffl While we could impose on our robot some visual sensors with fixed properties, we advocate (in common with Brooks [6]) the concurrent evolution of visual sensor morphology and the control networks: separating morphology from control is a measure which is difficult to justify from an evolutionary perspective, and potentially misleading. ffl For reasons of parsimony, studies of visually guided agents should ....

R. A. Brooks. Artificial life and real robots. In F. J. Varela and P. Bourgine, editors, Toward a Practice of Autonomous Systems: Proceedings of the First European Conference on Artificial Life (ECAL91), pages 3--10, Cambridge MA, 1992. M.I.T. Press --- Bradford Books.

....424] Bikdash, M. 296] Biondi, Joelle, 146] Blume, Christian, 102, 370] Bonarini, Andrea, 330] Boone, G. 86] Both, Hans Heinrich, 434] Boudreau, R. 259] Bradshaw, A. 103] Braunstingl, R. 127, 164] Bressgott, W. 33] Brevart, V. 128] Brillowski, K. 260] Brooks, Rodney A. [331] Browne, David, 211] Bruce, Wilker Shane, 289] Buckles, Bill P. 41] Bull, Lawrence, 129, 212] Bullock, G. N. 52] Burdick, Joel W. 170] Campbell, M. L. 100, 255] Chan, F. T. S. 30] Chan, K. K. 98] Chang, K. K. 431] Chatroux, Thierry, 332, 422, 423] Chedmail, P. 213, 261] ....

.... 150, 184, 236] biped, 234] control, 150, 157, 184, 236] hexapod, 216] manipulator, 251] manipulators, 135] manufacturing, 175] mobile, 347, 83, 147, 197, 258] path planning, 172] walking, 234] robot control, 408] robot programming, 396] robot societies, 137, 192] robotics, [327, 394, 410, 336, 337, 338, 339, 344, 350, 402, 432, 329, 331, 340, 326, 341, 342, 346, 347, 352, 353, 354, 355, 378, 379, 380, 395, 399, 401, 403, 405, 407, 416, 417, 59, 330, 332, 358, 360, 361, 362, 363, 364, 365, 366, 367, 373, 374, 381, 381, 382, 383, 384, 385, 386, 387, 388, 389, 392, 400, 406, 413, 415, 419, 420, 421, 422, 423, 431, 61, 68, 71, 72, 79, 90, 98, 101, 103, 106, 108, 109, 113, 114, 128, 145, 162, 169, 176, 205, 208, 229, 242, 246, 275, 281, 285, 287, 288, 293, 294, 299, 306, 309, 315, 316, 318] robotics animats, 144] autonomous, 390, 391, 77, 80, 86, 88, 110, 134, 148, 161, 180, 181, 232] autonomous agents, 151] biped, 206] cellular, 359, 69, 159, 173] collision avoidance, 65, 298] configuration, 126, 170] control, 78, 91, 117, 118, 136, 142, 167, 186, 190, 201, 218, 221, ....

[Article contains additional citation context not shown here]

Rodney A. Brooks. Artificial life and real robots. In Varela and Bourgine [462], pages 3--10. ga:Brooks91a.

.... explored at a hardware and firmware level [Lorigo97] Brooks has argued against the possibility of an adequate simulation of a physical system claiming that complex agent behavior is a reflection of a complex environment and that virtual reality is not rich enough to provide this level of stimulus [Brooks91]. Although this viewpoint is valid for the development of real world robots, if an agent s purpose is to ultimately function within a virtual environment, then the most appropriate place for its development is in virtual reality. This paper describes issues in using Java3D to develop a modified ....

Brooks, R., "Artificial Life and Real Robots", Towards a Practice of Autonomous Systems: European Conference on Artificial Life, MIT Press, Paris, France, pp. 3-10, 1991

....1996, p. 76) ffl As the complexity of robotic systems grows and the gap between the simulation and the real system widens, the question of the value of investing in a specialized simulation will become increasingly important. Mataric and Cliff, 1996, p. 76) Mataric and Cliff, in agreement with (Brooks, 1992), raise the concern that a lack of simulation fidelity can lead to problems of transference, where robotic controllers that evolve in simulation are unable to perform effectively when transferred to real robots because they exploit features of the simulator that are not found in the physical ....

Brooks, R. (1992). Artificial life and real robots.

....for building autonomous robots. Although many successful robots have been built based on this approach, increasing robot complexity makes the design difficult. Consequently, the evolutionary approach was advocated to provide some kind of design automation for building behavioral modules [3][4] The first work proposing to use the genetic approach to synthesize programs for robot control is [6] Due to being overly simplified, however, it has been criticized as being not complicated enough to control a real robot [3] Another example of using a GP approach to evolve control programs ....

.... some kind of design automation for building behavioral modules [3] 4] The first work proposing to use the genetic approach to synthesize programs for robot control is [6] Due to being overly simplified, however, it has been criticized as being not complicated enough to control a real robot [3]. Another example of using a GP approach to evolve control programs is given in a series of papers by Reynolds. In the final version [8] the author applied arithmetic operations, such as , Gamma, and the conditional operation iflte to calculate a single output value from sensor values ....

R. A. Brooks. Artificial Life and Real Robots. In Proceedings of the First European Conference on Artificial Life, p3-10, 1991.

No context found.

Brooks, R. (1992). Artificial life and real robots. In Varela, F. and Bourgine, P., editors, Toward a practice of autonomous systems: Proceedings of the First European Conference on Artificial Life, pages 3--10. MIT Press.

No context found.

R. Brooks. Artificial life and real robots. In F. Varela and P. Bourgine, editors, Proceedings of the First European Conference on Artificial Life, pages 3--10. MIT Press, 1992.

No context found.

R. Brooks. Artificial life and real robots. European Conf. on Artificial Life, 1992.

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R. A. Brooks, "Artificial life and real robots," in Toward a Practice of Autonomous Systems: Proceedings of the First European Conference on Artificial Life, (Cambridge, MA), pp. 3--10, MIT Press, 1992.

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Brooks, R.A. "Artificial life and real robots." Towards a practice of autonomous systems : Proceedings of the first European conference on artificial life. Eds F.J. Varela and P. Bourgine. MIT press. 1991.

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R.A. Brooks, Artificial life and real robots, in: F.J. Varela, P. Bourgine (Eds.), Toward a Practice of Autonomous Systems: Proceedings of the First European Conference on Artificial Life, MIT Press/Bradford Books, Cambridge, MA, 1992, pp. 3--10.

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Rodney A. Brooks. Artificial life and real robots. In Francisco J. Varela and Paul Bourgine, editors, Towards a Practice of Autonomous Systems: Proceedings of the First European Conference on Artificial Life, pages 3--10, Cambridge, MA, 1992. MIT Press.

No context found.

Brooks R. A. (1991a). Artificial Life and Real Robots , Towards a Practice of Autonomous Systems: European Conference on Artificial Life, Paris, France, MIT Press, December, pp. 3 - 10.

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) R. A. Brooks. Artificial life and real robots. In Proc. of the Fifth European Conference on Artificial Life, pages 35--48, 1990.

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Brooks, R. (1992), "Artificial Life and Real Robots", in Varela, F. J. and P. Bourgine (eds.), Toward a Practice of Autonomous Systems. Proceedings of the First European Conference on Artificial Life (The MIT Press, Cambridge, MA), 3-10.

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Brooks R. Artificial Life and Real Robots. In Proceedings of the First European Conference on Artificial Life. F. Varela & P. Bourgine Eds., Cambridge, MIT Press, USA 1992.

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