Evolving hand-eye coordination for a humanoid robot with machine code genetic programming

Abstract

We evolve, using AIMGP machine code genetic programming, Discipulus, an approximation of the inverse kinematics of a real robotics arm with many degrees of freedom. Elvis is a bipedal robot with human-like geometry and motion capabilities | a humanoid, primarily controlled by evolutionary adaptive methods. The GP system produces a useful inverse kinematic mapping, from target 3-D points (via pairs of stereo video images) to a vector of arm controller actuator set points.