{"id":"https://openalex.org/W1986714037","doi":"https://doi.org/10.1109/cec.2009.4983200","title":"Robot design for space missions using evolutionary computation","display_name":"Robot design for space missions using evolutionary computation","publication_year":2009,"publication_date":"2009-05-01","ids":{"openalex":"https://openalex.org/W1986714037","doi":"https://doi.org/10.1109/cec.2009.4983200","mag":"1986714037"},"language":"en","primary_location":{"id":"doi:10.1109/cec.2009.4983200","is_oa":false,"landing_page_url":"https://doi.org/10.1109/cec.2009.4983200","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2009 IEEE Congress on Evolutionary Computation","raw_type":"proceedings-article"},"type":"article","indexed_in":["crossref"],"open_access":{"is_oa":false,"oa_status":"closed","oa_url":null,"any_repository_has_fulltext":false},"authorships":[{"author_position":"first","author":{"id":"https://openalex.org/A5039118327","display_name":"Malte Rommerman","orcid":null},"institutions":[{"id":"https://openalex.org/I33256026","display_name":"German Research Centre for Artificial Intelligence","ror":"https://ror.org/01ayc5b57","country_code":"DE","type":"funder","lineage":["https://openalex.org/I33256026"]}],"countries":["DE"],"is_corresponding":true,"raw_author_name":"Malte Rommerman","raw_affiliation_strings":["German Research Center for Artificial Intelligence, Bremen, Germany","German Research Center for Artificial Intelligence (DFKI), Robert-Hooke-Str. 5, D-28359, Bremen, Germany#TAB#"],"affiliations":[{"raw_affiliation_string":"German Research Center for Artificial Intelligence, Bremen, Germany","institution_ids":["https://openalex.org/I33256026"]},{"raw_affiliation_string":"German Research Center for Artificial Intelligence (DFKI), Robert-Hooke-Str. 5, D-28359, Bremen, Germany#TAB#","institution_ids":["https://openalex.org/I33256026"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5090007824","display_name":"Daniel K\u00fchn","orcid":null},"institutions":[{"id":"https://openalex.org/I33256026","display_name":"German Research Centre for Artificial Intelligence","ror":"https://ror.org/01ayc5b57","country_code":"DE","type":"funder","lineage":["https://openalex.org/I33256026"]}],"countries":["DE"],"is_corresponding":false,"raw_author_name":"Daniel Kuhn","raw_affiliation_strings":["German Research Center for Artificial Intelligence, Bremen, Germany","German Research Center for Artificial Intelligence (DFKI), Robert-Hooke-Str. 5, D-28359, Bremen, Germany#TAB#"],"affiliations":[{"raw_affiliation_string":"German Research Center for Artificial Intelligence, Bremen, Germany","institution_ids":["https://openalex.org/I33256026"]},{"raw_affiliation_string":"German Research Center for Artificial Intelligence (DFKI), Robert-Hooke-Str. 5, D-28359, Bremen, Germany#TAB#","institution_ids":["https://openalex.org/I33256026"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5016436943","display_name":"Frank Kirchner","orcid":"https://orcid.org/0000-0002-1713-9784"},"institutions":[{"id":"https://openalex.org/I33256026","display_name":"German Research Centre for Artificial Intelligence","ror":"https://ror.org/01ayc5b57","country_code":"DE","type":"funder","lineage":["https://openalex.org/I33256026"]}],"countries":["DE"],"is_corresponding":false,"raw_author_name":"Frank Kirchner","raw_affiliation_strings":["German Research Center for Artificial Intelligence, Bremen, Germany","German Research Center for Artificial Intelligence (DFKI), Robert-Hooke-Str. 5, D-28359, Bremen, Germany#TAB#"],"affiliations":[{"raw_affiliation_string":"German Research Center for Artificial Intelligence, Bremen, Germany","institution_ids":["https://openalex.org/I33256026"]},{"raw_affiliation_string":"German Research Center for Artificial Intelligence (DFKI), Robert-Hooke-Str. 5, D-28359, Bremen, Germany#TAB#","institution_ids":["https://openalex.org/I33256026"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":3,"corresponding_author_ids":["https://openalex.org/A5039118327"],"corresponding_institution_ids":["https://openalex.org/I33256026"],"apc_list":null,"apc_paid":null,"fwci":1.5564,"has_fulltext":false,"cited_by_count":32,"citation_normalized_percentile":{"value":0.81852244,"is_in_top_1_percent":false,"is_in_top_10_percent":false},"cited_by_percentile_year":{"min":89,"max":99},"biblio":{"volume":null,"issue":null,"first_page":"2098","last_page":"2105"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T10879","display_name":"Robotic Locomotion and Control","score":0.9998000264167786,"subfield":{"id":"https://openalex.org/subfields/2204","display_name":"Biomedical Engineering"},"field":{"id":"https://openalex.org/fields/22","display_name":"Engineering"},"domain":{"id":"https://openalex.org/domains/3","display_name":"Physical Sciences"}},"topics":[{"id":"https://openalex.org/T10879","display_name":"Robotic Locomotion and Control","score":0.9998000264167786,"subfield":{"id":"https://openalex.org/subfields/2204","display_name":"Biomedical Engineering"},"field":{"id":"https://openalex.org/fields/22","display_name":"Engineering"},"domain":{"id":"https://openalex.org/domains/3","display_name":"Physical Sciences"}},{"id":"https://openalex.org/T11975","display_name":"Evolutionary Algorithms and Applications","score":0.9883000254631042,"subfield":{"id":"https://openalex.org/subfields/1702","display_name":"Artificial Intelligence"},"field":{"id":"https://openalex.org/fields/17","display_name":"Computer Science"},"domain":{"id":"https://openalex.org/domains/3","display_name":"Physical Sciences"}},{"id":"https://openalex.org/T11170","display_name":"Biomimetic flight and propulsion mechanisms","score":0.979200005531311,"subfield":{"id":"https://openalex.org/subfields/2202","display_name":"Aerospace Engineering"},"field":{"id":"https://openalex.org/fields/22","display_name":"Engineering"},"domain":{"id":"https://openalex.org/domains/3","display_name":"Physical Sciences"}}],"keywords":[{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.802183985710144},{"id":"https://openalex.org/keywords/evolutionary-robotics","display_name":"Evolutionary robotics","score":0.7253792881965637},{"id":"https://openalex.org/keywords/robot-locomotion","display_name":"Robot locomotion","score":0.6671620607376099},{"id":"https://openalex.org/keywords/inverse-kinematics","display_name":"Inverse kinematics","score":0.6657841205596924},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.6184640526771545},{"id":"https://openalex.org/keywords/evolutionary-algorithm","display_name":"Evolutionary algorithm","score":0.608849823474884},{"id":"https://openalex.org/keywords/evolutionary-computation","display_name":"Evolutionary computation","score":0.5939973592758179},{"id":"https://openalex.org/keywords/kinematics","display_name":"Kinematics","score":0.5374636650085449},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.5047303438186646},{"id":"https://openalex.org/keywords/process","display_name":"Process (computing)","score":0.4939296841621399},{"id":"https://openalex.org/keywords/robot-kinematics","display_name":"Robot kinematics","score":0.47628703713417053},{"id":"https://openalex.org/keywords/computation","display_name":"Computation","score":0.44524165987968445},{"id":"https://openalex.org/keywords/simulation","display_name":"Simulation","score":0.42612963914871216},{"id":"https://openalex.org/keywords/mobile-robot","display_name":"Mobile robot","score":0.40345942974090576},{"id":"https://openalex.org/keywords/robot-control","display_name":"Robot control","score":0.37770360708236694},{"id":"https://openalex.org/keywords/algorithm","display_name":"Algorithm","score":0.07032579183578491}],"concepts":[{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.802183985710144},{"id":"https://openalex.org/C199505168","wikidata":"https://www.wikidata.org/wiki/Q3267529","display_name":"Evolutionary robotics","level":3,"score":0.7253792881965637},{"id":"https://openalex.org/C6101204","wikidata":"https://www.wikidata.org/wiki/Q7353391","display_name":"Robot locomotion","level":5,"score":0.6671620607376099},{"id":"https://openalex.org/C17816587","wikidata":"https://www.wikidata.org/wiki/Q1501872","display_name":"Inverse kinematics","level":3,"score":0.6657841205596924},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.6184640526771545},{"id":"https://openalex.org/C159149176","wikidata":"https://www.wikidata.org/wiki/Q14489129","display_name":"Evolutionary algorithm","level":2,"score":0.608849823474884},{"id":"https://openalex.org/C105902424","wikidata":"https://www.wikidata.org/wiki/Q1197129","display_name":"Evolutionary computation","level":2,"score":0.5939973592758179},{"id":"https://openalex.org/C39920418","wikidata":"https://www.wikidata.org/wiki/Q11476","display_name":"Kinematics","level":2,"score":0.5374636650085449},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.5047303438186646},{"id":"https://openalex.org/C98045186","wikidata":"https://www.wikidata.org/wiki/Q205663","display_name":"Process (computing)","level":2,"score":0.4939296841621399},{"id":"https://openalex.org/C74222875","wikidata":"https://www.wikidata.org/wiki/Q16000312","display_name":"Robot kinematics","level":4,"score":0.47628703713417053},{"id":"https://openalex.org/C45374587","wikidata":"https://www.wikidata.org/wiki/Q12525525","display_name":"Computation","level":2,"score":0.44524165987968445},{"id":"https://openalex.org/C44154836","wikidata":"https://www.wikidata.org/wiki/Q45045","display_name":"Simulation","level":1,"score":0.42612963914871216},{"id":"https://openalex.org/C19966478","wikidata":"https://www.wikidata.org/wiki/Q4810574","display_name":"Mobile robot","level":3,"score":0.40345942974090576},{"id":"https://openalex.org/C65401140","wikidata":"https://www.wikidata.org/wiki/Q7353385","display_name":"Robot control","level":4,"score":0.37770360708236694},{"id":"https://openalex.org/C11413529","wikidata":"https://www.wikidata.org/wiki/Q8366","display_name":"Algorithm","level":1,"score":0.07032579183578491},{"id":"https://openalex.org/C121332964","wikidata":"https://www.wikidata.org/wiki/Q413","display_name":"Physics","level":0,"score":0.0},{"id":"https://openalex.org/C74650414","wikidata":"https://www.wikidata.org/wiki/Q11397","display_name":"Classical mechanics","level":1,"score":0.0},{"id":"https://openalex.org/C111919701","wikidata":"https://www.wikidata.org/wiki/Q9135","display_name":"Operating system","level":1,"score":0.0}],"mesh":[],"locations_count":1,"locations":[{"id":"doi:10.1109/cec.2009.4983200","is_oa":false,"landing_page_url":"https://doi.org/10.1109/cec.2009.4983200","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2009 IEEE Congress on Evolutionary Computation","raw_type":"proceedings-article"}],"best_oa_location":null,"sustainable_development_goals":[],"awards":[],"funders":[],"has_content":{"pdf":false,"grobid_xml":false},"content_urls":null,"referenced_works_count":29,"referenced_works":["https://openalex.org/W101458385","https://openalex.org/W187067249","https://openalex.org/W206440355","https://openalex.org/W1506874128","https://openalex.org/W1543496098","https://openalex.org/W1549585850","https://openalex.org/W1596568669","https://openalex.org/W1609223620","https://openalex.org/W1983449914","https://openalex.org/W2001685400","https://openalex.org/W2012391952","https://openalex.org/W2025966349","https://openalex.org/W2112036188","https://openalex.org/W2115569300","https://openalex.org/W2117287707","https://openalex.org/W2126254947","https://openalex.org/W2127197749","https://openalex.org/W2135030058","https://openalex.org/W2144280078","https://openalex.org/W2152095940","https://openalex.org/W2156245846","https://openalex.org/W2157246645","https://openalex.org/W2164750886","https://openalex.org/W2164904978","https://openalex.org/W4232407404","https://openalex.org/W6607420071","https://openalex.org/W6630336764","https://openalex.org/W6684077437","https://openalex.org/W6814630641"],"related_works":["https://openalex.org/W2744818472","https://openalex.org/W2970937359","https://openalex.org/W1253671258","https://openalex.org/W3134555460","https://openalex.org/W4283266117","https://openalex.org/W2355512144","https://openalex.org/W4396731552","https://openalex.org/W1954640725","https://openalex.org/W2607470227","https://openalex.org/W2351331567"],"abstract_inverted_index":{"In":[0,85,151],"this":[1,89,159],"work,":[2],"we":[3],"describe":[4],"a":[5,25,60,92,115,140],"learning":[6,93],"system":[7,94],"that":[8,36,95,125],"uses":[9],"the":[10,18,21,34,47,66,70,110,127,130,135,152,154,165,169,173,181],"CMA-ES":[11],"method":[12],"from":[13],"evolutionary":[14,121],"computation":[15],"to":[16,77,87,112,180],"optimize":[17],"morphology":[19,41,71],"and":[20,62,69,81,98,103,117],"walking":[22,52,67,101,137,175],"patterns":[23,53,102,138,176],"for":[24,54,164],"complex":[26,56],"legged":[27],"robot":[28,40,116],"simultaneously.":[29],"Using":[30],"simulation":[31],"tools":[32],"has":[33],"advantage":[35],"an":[37,79],"optimization":[38],"of":[39,129,168],"is":[42,105],"possible":[43],"before":[44],"actually":[45],"building":[46],"robot.":[48,171,183],"Also,":[49],"manually":[50],"developing":[51],"kinematically":[55],"robots":[57],"can":[58],"be":[59,162,178],"challenging":[61],"time-consuming":[63],"task.":[64],"Both,":[65],"pattern":[68],"depend":[72],"highly":[73],"on":[74],"each":[75],"other":[76],"produce":[78],"energy-efficient":[80],"stable":[82],"locomotion":[83],"behaviour.":[84],"order":[86],"automate":[88],"design":[90],"process,":[91],"generates,":[96],"tests,":[97],"optimizes":[99,123],"different":[100],"morphologies":[104],"needed,":[106],"as":[107,109],"well":[108],"ability":[111],"accurately":[113],"simulate":[114],"its":[118],"environment.":[119],"The":[120,143],"algorithm":[122],"parameters":[124],"affect":[126],"trajectories":[128],"robot's":[131,144],"foot":[132],"points,":[133],"testing":[134],"resulting":[136],"in":[139],"physical":[141],"simulation.":[142],"limbs":[145],"are":[146],"controlled":[147],"using":[148],"inverse":[149],"kinematics.":[150],"future,":[153],"best":[155],"solution":[156],"evolved":[157],"by":[158],"approach":[160],"will":[161,177],"used":[163],"mechanical":[166],"construction":[167],"real":[170,182],"Afterwards,":[172],"optimized":[174],"transferred":[179]},"counts_by_year":[{"year":2023,"cited_by_count":2},{"year":2022,"cited_by_count":1},{"year":2019,"cited_by_count":1},{"year":2018,"cited_by_count":1},{"year":2017,"cited_by_count":1},{"year":2016,"cited_by_count":1},{"year":2015,"cited_by_count":3},{"year":2014,"cited_by_count":6},{"year":2013,"cited_by_count":9},{"year":2012,"cited_by_count":2}],"updated_date":"2025-11-06T03:46:38.306776","created_date":"2025-10-10T00:00:00"}
