Evolution of Diverse, Manufacturable Robot Body Plans

Buchanan, Edgar, Le Goff, Léni K., Hart, Emma, Eiben, Agoston E., De Carlo, Matteo, Li, Wei, Hale, Matthew F., Woolley, Robert, Timmis, Jonathan and Tyrrell, Andy M. (2020) Evolution of Diverse, Manufacturable Robot Body Plans. In: 2020 IEEE Symposium Series on Computational Intelligence (SSCI). IEEE. ISBN 9781728125473

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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.

Item Type: Book Section
Additional Information: Date of Conference: 1-4 Dec. 2020 Conference Location: Canberra, ACT, Australia (held online)
Subjects: Computing > Artificial Intelligence
Divisions: Faculty of Technology > School of Computer Science
Related URLs:
Depositing User: Jonathan Timmis
Date Deposited: 05 Jul 2021 10:43
Last Modified: 05 Jul 2021 10:43
URI: http://sure.sunderland.ac.uk/id/eprint/13661
ORCID for Edgar Buchanan: ORCID iD orcid.org/0000-0001-6587-8808
ORCID for Léni K. Le Goff: ORCID iD orcid.org/0000-0003-1749-9154
ORCID for Agoston E. Eiben: ORCID iD orcid.org/0000-0002-3106-4213
ORCID for Matteo De Carlo: ORCID iD orcid.org/0000-0002-6435-0873
ORCID for Jonathan Timmis: ORCID iD orcid.org/0000-0003-1055-0471
ORCID for Andy M. Tyrrell: ORCID iD orcid.org/0000-0002-8533-2404

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