Evolutionary Robotics

Lamarckian Evolution of Simulated Modular Robots

We study evolutionary robot systems where not only the robot brains but also the robot bodies are evolvable. Such systems need to include a learning period right after ‘birth' to acquire a controller that fits the newly created body. In this paper we …

Directed Locomotion for Modular Robots with Evolvable Morphologies

Morphologically evolving robot systems need to include a learning period right after ‘birth' to acquire a controller that fits the newly created body. In this paper, we investigate learning one skill in particular: walking in a given direction. To …

Morphological Attractors in Darwinian and Lamarckian Evolutionary Robot Systems

Morphological evolution in a robotic system produces novel robot bodies after each reproduction event. This implies the necessity for life-time learning so that newborn robots can acquire a controller that fits their body. Thus, we obtain a system …

Analysis of Lamarckian Evolution in Morphologically Evolving Robots

Evolving robot morphologies implies the need for lifetime learning so that newborn robots can learn to manipulate their bodies. An individual's morphology will obviously combine traits of all its parents; it must adapt its own controller to suit its …

Acquiring Moving Skills in Robots with Evolvable Morphologies : Recent Results and Outlook

We construct and investigate a strongly embodied evolutionary system, where not only the controllers but also the morphologies undergo evolution in an on-line fashion. In these studies, we have been using various types of robot morphologies and …

Benefits of Lamarckian Evolution for Morphologically Evolving Robots

Implementing lifetime learning by means of on-line evolution, we establish an indirect encoding scheme that combines Compositional Pattern Producing Networks (CPPNs) and Central Pattern Generators (CPGs) as a relevant learner and controller for …

Real-World Evolution of Robot Morphologies: A Proof of Concept

Evolutionary robotics using real hardware has been almost exclusively restricted to evolving robot controllers, but the technology for evolvable morphologies is advancing quickly. We discuss a proof-of-concept study to demonstrate real robots that …

Revolve

An open source software framework for robot evolution

The Robot Baby Project

The first implementation of the life cycle of self-reproducing robots