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

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

Item Type: Book Section


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.

ICES_Hardware_Design_for_Autonomous_Robot_Evolution.pdf - Accepted Version
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More Information

Depositing User: Jonathan Timmis


Item ID: 13892
ISBN: 9781728125473
Official URL:

Users with ORCIDS

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

Catalogue record

Date Deposited: 02 Sep 2021 13:20
Last Modified: 25 Jan 2022 08:52


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

University Divisions

Faculty of Technology > School of Computer Science


Computing > Artificial Intelligence
Engineering > Mechanical Engineering

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