Dynamic Motion Control Game|Tech 2004

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Presentation transcript:

Dynamic Motion Control Game|Tech 2004 Torsten Reil NaturalMotion Ltd Game|Tech 2004 © NaturalMotion 2004

Game|Tech 2004 © NaturalMotion 2004

Game|Tech 2004 © NaturalMotion 2004

Game|Tech 2004 © NaturalMotion 2004

Passive Body Dynamics Game|Tech 2004 © NaturalMotion 2004

Passive Body Dynamics Dimensions Mass Distribution Passive Lower Leg Swing Game|Tech 2004 © NaturalMotion 2004

Passive Body Dynamics Game|Tech 2004 © NaturalMotion 2004

Actuators Game|Tech 2004 © NaturalMotion 2004

AI Controllers Game|Tech 2004 © NaturalMotion 2004

AI Controllers Game|Tech 2004 © NaturalMotion 2004

Controller Optimisation Genetic Algorithm Rank-based selection Fittest fraction: 0.5 Parameters coded as real values Mutation size: adjusted Gaussian Distribution Mutation rate: approx. 1/chromosome No crossover Game|Tech 2004 © NaturalMotion 2004

Controller Optimisation Basic fitness function: Distance travelled from origin. Game|Tech 2004 © NaturalMotion 2004

Result Game|Tech 2004 © NaturalMotion 2004

Controller Optimisation Guided Evolution Create initially permissive environment Weak trunk-stabilising controller After x generations, continue evolution without stabilising controller  Bike stabilisers Game|Tech 2004 © NaturalMotion 2004

Results Game|Tech 2004 © NaturalMotion 2004

Game|Tech 2004 © NaturalMotion 2004

Game|Tech 2004 © NaturalMotion 2004

Game|Tech 2004 © NaturalMotion 2004

Game|Tech 2004 © NaturalMotion 2004

Game|Tech 2004 © NaturalMotion 2004

Game|Tech 2004 © NaturalMotion 2004

Passive Dynamics Game|Tech 2004 © NaturalMotion 2004

AI-enabled (upper body) Game|Tech 2004 © NaturalMotion 2004

AI-enabled (whole body) Game|Tech 2004 © NaturalMotion 2004

Adaptive Behaviour Game|Tech 2004 © NaturalMotion 2004

Game|Tech 2004 © NaturalMotion 2004

Game|Tech 2004 © NaturalMotion 2004

Game|Tech 2004 © NaturalMotion 2004

Game|Tech 2004 © NaturalMotion 2004

Q&A torsten.reil@naturalmotion.com www.naturalmotion.com Game|Tech 2004 © NaturalMotion 2004

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