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Practical hardware for evolvable robots.

Mike Angus1, Edgar Buchanan1, Léni K Le Goff2

  • 1School of Physics, Engineering and Technology, University of York, York, United Kingdom.

Frontiers in Robotics and AI
|September 6, 2023
PubMed
Summary
This summary is machine-generated.

Evolutionary robotics creates robots through simulated evolution, but hardware constraints limit viable designs. Adapting evolution to hardware limitations is crucial for real-world robot development.

Keywords:
autonomous robot fabricationevolutionary roboticshardware constraintshardware designmodular robotsrobot manufacturability

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Area of Science:

  • Robotics
  • Artificial Intelligence
  • Evolutionary Computation

Background:

  • Evolutionary robotics (ER) enables autonomous robot generation via iterative optimization.
  • Most ER research occurs in simulation due to high costs of physical robot development.
  • Transitioning simulated evolved robots to hardware presents significant challenges.

Purpose of the Study:

  • To explore the design of systems for realizing diverse evolved robot bodies.
  • To investigate the interaction between hardware implementation and the evolutionary process.
  • To address the challenge of constraining evolutionary processes within a viable phenotype space.

Main Methods:

  • Developing a system for diverse evolved robot body realization.
  • Analyzing the impact of hardware constraints on the evolutionary space.
  • Implementing phenotype filtering and repair methods.
  • Evaluating the match between hardware degrees of freedom and morphological variation.

Main Results:

  • Hardware implementation introduces constraints that alter the evolutionary space.
  • Phenotype filtering/repair degraded population diversity and exploration.
  • Hardware constraints poorly matched useful morphological variations.
  • The evolutionary process's ability to generate effective adaptations was reduced.

Conclusions:

  • Hardware platform design for evolving robots must consider viable phenotype space.
  • Simulated evolution requires detailed hardware implementation consideration due to profound impacts on the evolutionary space.