Hardware Design for Autonomous Robot Evolution

TY - GEN

T1 - Hardware Design for Autonomous Robot Evolution

AU - Hale, M

AU - Buchanan Berumen, Edgar

AU - Li, Wei

AU - Woolley, Robert

AU - Le Goff, Léni

AU - De Carlo, Matteo

AU - Timmis, Jon

AU - Winfield, Alan

AU - Hart, Emma

AU - Eiben, Gusz

AU - Tyrrell, Andy

N1 - This is an author-produced version of the published paper. Uploaded in accordance with the publisher’s self-archiving policy. Further copying may not be permitted; contact the publisher for details.

PY - 2020/9/18

Y1 - 2020/9/18

N2 - 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 for 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, \textit{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 \textit{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.

AB - 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 for 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, \textit{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 \textit{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.

M3 - Conference contribution

BT - 2020 IEEE Symposium Series on Computational Intelligence

ER -