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Evolution of Diverse, Manufacturable Robot Body Plans
- Source :
- SSCI
- Publication Year :
- 2020
- Publisher :
- IEEE, 2020.
-
Abstract
- Advances in rapid prototyping have opened up new avenues of research within Evolutionary Robotics in which not only controllers but also the body plans (morphologies) of robots can evolve in real-time and real-space. However, this also introduces new challenges, in that robot models that can be instantiated from an encoding in simulation might not be manufacturable in practice (due to constraints associated with the 3D printing and/or automated assembly processes). We introduce a representation for evolving (wheeled) robots with a printed plastic skeleton, and evaluate three variants of a novelty-search algorithm in terms of their ability to produce populations of manufacturable but diverse robots. While the set of manufacturable robots discovered represent only a small fraction of the overall search space of all robots, all methods are shown to be capable of generating a diverse population of manufacturable robots that we conjecture is large enough to seed an evolving robotic ecosystem.
- Subjects :
- Rapid prototyping
0209 industrial biotechnology
Computer science
business.industry
Distributed computing
Evolutionary robotics
3D printing
sub_artificialintelligence
02 engineering and technology
020901 industrial engineering & automation
Diverse population
Encoding (memory)
0202 electrical engineering, electronic engineering, information engineering
Robot
020201 artificial intelligence & image processing
Set (psychology)
business
Representation (mathematics)
Subjects
Details
- ISBN :
- 978-1-72812-547-3
- ISBNs :
- 9781728125473
- Database :
- OpenAIRE
- Journal :
- 2020 IEEE Symposium Series on Computational Intelligence (SSCI)
- Accession number :
- edsair.doi.dedup.....0f6749ea8c1c5fb0e9ad9102605f11dc
- Full Text :
- https://doi.org/10.1109/ssci47803.2020.9308434