Nothing Special   »   [go: up one dir, main page]

Skip to main content
Log in

Evolving robot morphology and control

  • Original Article
  • Published:
Artificial Life and Robotics Aims and scope Submit manuscript

Abstract

Most robotic approaches beging with a fixed robot hardware design and then experiment with control structures. We take a different approach that considers both the robot hardware and the control structure as variables in the evolution process. This paper reports the results of experiments which explore the placement of sensors and effectors around the perimeter of a simulated agent's body, and the neural network (NNet) that controls them.

This is a preview of subscription content, log in via an institution to check access.

Access this article

Subscribe and save

Springer+ Basic
$34.99 /Month
  • Get 10 units per month
  • Download Article/Chapter or eBook
  • 1 Unit = 1 Article or 1 Chapter
  • Cancel anytime
Subscribe now

Buy Now

Price excludes VAT (USA)
Tax calculation will be finalised during checkout.

Instant access to the full article PDF.

Similar content being viewed by others

Explore related subjects

Discover the latest articles, news and stories from top researchers in related subjects.

References

  1. Gruau F, Whitley D, Pyeatt L (1995) Cellular encoding applied to neurocontrol. In: Eshelman L (ed) International Conference on Genetic Algorithms, Morgan Kaufmann, San Mateo

    Google Scholar 

  2. Kodjabachian J, Meyer JA (1997) Evolution and development of neural networks controlling locomotion, gradient following, and obstacle avoidance in artificial insects. http:// www.biologie.ens.fr/fr/animatlab/perso/kodjaba/kodjaba.html

  3. Floreano D, Mondada F (1994) Automatic creation of an autonomous agent: genetic evolution of a neural network driven robot. In: Meyer J-A, Cliff D, Husbands P, Wilson S (eds) From animals to animats, vol III. MIT Press, Cambridge

    Google Scholar 

  4. Floreano D, Nolfi S (1997) Adaptive behavior in competing coevolving species. In: Husbands P, Harvey I (eds) 4th European Conference on Artificial Life. MIT Press, Cambridge

    Google Scholar 

  5. Angeline P, Saunders G, Pollack J (1994) An evolutionary algorithm that constructs recurrent networks. IEEE Trans Neural Network 5:54–65

    Article  Google Scholar 

  6. Kitano H (1990) Designing neural networks using genetic algorithms with graph generation system. Complex Syst 4(4)

  7. Lucas SM (1995) Growing adaptive neural networks with graph grammars. In: Proceedings of the European Symposium on Artificial Neural Networks (ESANN '95), pp 235–240. http://esewww.essex.ac.uk/sml/papers.html

  8. Menzer F, Belew RK (1994) Evolving sensors in environments of controlled complexity. In: Brooks R (ed) Proceedings of the 4th Conference on Artificial Life

  9. Mark A, Polani D, Uthmann T (1998) A framework for sensor evolution in a population of Braitenberg vehicle-like agents. In: Adami C, Belew RK, Kitano H, Taylor CE (eds) Artificial life, vol VI, MIT Press, Cambrdige, pp 428–432

    Google Scholar 

  10. Sims K (1994) Evolving 3d morphology and behaviour by competition. In: Brooks R, Maes P (eds) Proceedings of the International Conference on Artificial Life IV, MIT Press, Cambridge

    Google Scholar 

  11. Eggenberger P (1997) Evolving morphologies of sinmulated 3d organisms based on differential gene expression. In: Husbands P, Harvey I (eds) 4th European Conference on Artificial Life. MIT Press, Cambridge, pp 205–213

    Google Scholar 

  12. Lee W, Hallam JC, Lund HH (1996) Hybrid gp/ga approach for coevolving controllers and robot bodies to achieve fitness-specified tasks. In: Proceeding of the IEEE 3rd International Conference on Evolutionary Programming, IEEE Press, New York, pp 384–389

    Google Scholar 

  13. Braitenberg V (1984) Vehides: Experiments in synthetic psychology. MIT Press, Cambridge

    Google Scholar 

Download references

Author information

Authors and Affiliations

Authors

Corresponding author

Correspondence to Richard K. Belew.

About this article

Cite this article

Mautner, C., Belew, R.K. Evolving robot morphology and control. Artif Life Robotics 4, 130–136 (2000). https://doi.org/10.1007/BF02481333

Download citation

  • Received:

  • Accepted:

  • Issue Date:

  • DOI: https://doi.org/10.1007/BF02481333

Keywords

Navigation