Real-World Evolution of Robot Morphologies: A Proof of Concept
Real-World Evolution of Robot Morphologies: A Proof of Concept
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DOI：
10.1162/artl_a_00231
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发表时间：
2017-03-01
期刊：
影响因子：
2.6
通讯作者：
Eiben, A. E.
中科院分区：
文献类型：
--
作者：
Jelisavcic, Milan;de Carlo, Matteo;Eiben, A. E.
使用真实硬件的进化机器人几乎完全局限于进化机器人控制器，但可进化形态的技术正在迅速发展。我们讨论了一项概念验证研究，以展示能够繁殖的真实机器人。根据一般的系统计划，我们实现了一个机器人栖息地，它以最简单的形式包含了所有系统组件。我们创建两个机器人的初始种群，并运行一个完整的生命周期，从而产生一个由前两个机器人养育的新机器人。尽管单个步骤被简化到最大程度，但整个系统验证了底层概念，并为创建更复杂的化身提供了通用工作流。这种实践经验提供了见解，并帮助我们阐述了未来发展有趣的研究方向。
Evolutionary robotics using real hardware has been almost exclusively restricted to evolving robot controllers, but the technology for evolvable morphologies is advancing quickly. We discuss a proof-of-concept study to demonstrate real robots that can reproduce. Following a general system plan, we implement a robotic habitat that contains all system components in the simplest possible form. We create an initial population of two robots and run a complete life cycle, resulting in a new robot, parented by the first two. Even though the individual steps are simplified to the maximum, the whole system validates the underlying concepts and provides a generic workflow for the creation of more complex incarnations. This hands-on experience provides insights and helps us elaborate on interesting research directions for future development.