Hardware Design for Autonomous Robot Evolution

Hale, Matthew F., Angus, Mike, Buchanan, Edgar, Li, Wei, Woolley, Robert, Le Goff, Léni K., De Carlo, Matteo, Timmis, Jonathan, Winfield, Alan F., Hart, Emma, Eiben, Agoston E. and Tyrrell, Andy M. (2021) Hardware Design for Autonomous Robot Evolution. In: IEEE Symposium Series on Computational Intelligence. IEEE. ISBN 9781728125473

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The long term goal of the Autonomous Robot Evolution (ARE) project is to create populations of physical robots, in which both the controllers and body plans are evolved. The transition of evolutionary designs from purely simulation environments into the real world creates the possibility for new types of system able to adapt to unknown and changing environments. In this paper, a system for creating robots is introduced in order to allow for their body plans to be designed algorithmically and physically instantiated using the previously introduced Robot Fabricator. This system consists of two types of components. Firstly, skeleton parts are created bespoke for each design by 3D printing, allowing the overall shape of the robot to include almost infinite variety. To allow for the shortcomings of 3D printing, the second type of component are organs which contain components such as motors and sensors, and can be attached to the skeleton to provide particular functions. Specific organ designs are presented, with discussion of the design challenges for evolutionary robotics in hardware. The Robot Fabricator is extended to allow for robots with joints, and some example body plans shown to demonstrate the diversity possible using this system of robot generation.

Item Type: Book Section
Subjects: Computing > Artificial Intelligence
Engineering > Mechanical Engineering
Divisions: Faculty of Technology > School of Computer Science
Depositing User: Jonathan Timmis
Date Deposited: 02 Sep 2021 13:20
Last Modified: 02 Sep 2021 13:20
URI: http://sure.sunderland.ac.uk/id/eprint/13892
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 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 Alan F. Winfield: ORCID iD orcid.org/0000-0002-1476-3127
ORCID for Agoston E. Eiben: ORCID iD orcid.org/0000-0002-3106-4213
ORCID for Andy M. Tyrrell: ORCID iD orcid.org/0000-0002-8533-2404

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