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Sunderland Repository records the research produced by the University of Sunderland including practice-based research and theses.

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

Item Type: Book Section


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.

ICES_Evolution_of_Diverse_Manufacturable_RobotMorphologies.pdf - Accepted Version

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More Information

Additional Information: Date of Conference: 1-4 Dec. 2020 Conference Location: Canberra, ACT, Australia (held online)
Related URLs:
Depositing User: Jonathan Timmis


Item ID: 13661
Identification Number:
ISBN: 9781728125473
Official URL:

Users with ORCIDS

ORCID for Edgar Buchanan: ORCID iD
ORCID for Léni K. Le Goff: ORCID iD
ORCID for Agoston E. Eiben: ORCID iD
ORCID for Matteo De Carlo: ORCID iD
ORCID for Jonathan Timmis: ORCID iD
ORCID for Andy M. Tyrrell: ORCID iD

Catalogue record

Date Deposited: 05 Jul 2021 10:43
Last Modified: 05 Jul 2021 10:43


Author: Edgar Buchanan ORCID iD
Author: Léni K. Le Goff ORCID iD
Author: Agoston E. Eiben ORCID iD
Author: Matteo De Carlo ORCID iD
Author: Jonathan Timmis ORCID iD
Author: Andy M. Tyrrell ORCID iD
Author: Emma Hart
Author: Wei Li
Author: Matthew F. Hale
Author: Robert Woolley

University Divisions

Faculty of Technology > School of Computer Science


Computing > Artificial Intelligence

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