相关论文: The Effects of the Environment and Linear Actuator…

Designing soft robots poses considerable challenges: automated design approaches may be particularly appealing in this field, as they promise to optimize complex multi-material machines with very little or no human intervention.…

Exposing an Evolutionary Algorithm that is used to evolve robot controllers to variable conditions is necessary to obtain solutions which are robust and can cross the reality gap. However, we do not yet have methods for analyzing and…

Evolutionary algorithms offer great promise for the automatic design of robot bodies, tailoring them to specific environments or tasks. Most research is done on simplified models or virtual robots in physics simulators, which do not capture…

Many organisms, including various species of spiders and caterpillars, change their shape to switch gaits and adapt to different environments. Recent technological advances, ranging from stretchable circuits to highly deformable soft…

Different subsystems of organisms adapt over many time scales, such as rapid changes in the nervous system (learning), slower morphological and neurological change over the lifetime of the organism (postnatal development), and change over…

Evolutionary robot systems are usually affected by the properties of the environment indirectly through selection. In this paper, we present and investigate a system where the environment also has a direct effect: through regulation. We…

It is well known that intra-life learning, defined as an additional controller optimization loop, is beneficial for evolving robot morphologies for locomotion. In this work, we investigate this further by comparing it in two different…

Robots often interact with the world via attached parts such as wheels, joints, or appendages. In many systems, these interactions, and the manner in which they lead to locomotion, can be understood using the machinery of geometric…

Industrial manipulators do not collapse under their own weight when powered off due to the friction in their joints. Although these mechanism are effective for stiff position control of pick-and-place, they are inappropriate for legged…

In evolutionary robotics, jointly optimising the design and the controller of robots is a challenging task due to the huge complexity of the solution space formed by the possible combinations of body and controller. We focus on the…

The automatic design of robots has existed for 30 years but has been constricted by serial non-differentiable design evaluations, premature convergence to simple bodies or clumsy behaviors, and a lack of sim2real transfer to physical…

Robots operating in the real world will experience a range of different environments and tasks. It is essential for the robot to have the ability to adapt to its surroundings to work efficiently in changing conditions. Evolutionary robotics…

We present a methodology for fast prototyping of morphologies and controllers for robot locomotion. Going beyond simulation-based approaches, we argue that the form and function of a robot, as well as their interplay with real-world…

Traditional robots have rigid links and structures that limit their ability to interact with the dynamics of their immediate environment. For example, conventional robot manipulators with rigid links can only manipulate objects using…

Recent studies have demonstrated the immense potential of exploiting muscle actuator morphology for natural and robust movement -- in simulation. A validation on real robotic hardware is yet missing. In this study, we emulate muscle…

Modular robotics research has long been preoccupied with perfecting the modules themselves -- their actuation methods, connectors, controls, communication, and fabrication. This inward focus results, in part, from the complexity of the task…

For robots to handle the numerous factors that can affect them in the real world, they must adapt to changes and unexpected events. Evolutionary robotics tries to solve some of these issues by automatically optimizing a robot for a specific…

Designing robots by hand can be costly and time consuming, especially if the robots have to be created with novel materials, or be robust to internal or external changes. In order to create robots automatically, without the need for human…

A robotic swarm that is required to operate for long periods in a potentially unknown environment can use both evolution and individual learning methods in order to adapt. However, the role played by the environment in influencing the…

The complexity of a legged robot's environment or task can inform how specialised its gait must be to ensure success. Evolving specialised robotic gaits demands many evaluations - acceptable for computer simulations, but not for physical…