TY - GEN
T1 - Robotic task affects the resulting morphology and behaviour in evolutionary robotics
AU - Carlo, Matteo De
AU - Zeeuwe, Daan
AU - Ferrante, Eliseo
AU - Meynen, Gerben
AU - Ellers, Jacintha
AU - Eiben, A. E.
N1 - Publisher Copyright:
© 2020 IEEE.
PY - 2020/12/1
Y1 - 2020/12/1
N2 - In evolution, the evolutionary success of individuals is influenced in equal parts by the environment they are living in and by the adapting capability that they possess. In this work, instead of analyzing the adaptability of a population, we investigate how different environments influence the evolution of morphologies and controllers of modular robots. Previous work analyzed how robot evolution is influenced by different environments while keeping fixed the robot task. However, each environment may present different tasks that influence robot success. In this work, we investigate how different tasks in the same physical environment influence the evolutionary outcome. Specifically, we compare morphologies and behaviors under two tasks, undirected locomotion, and rotation in a flat terrain environment. We perform this analysis by analyzing the morphological and behavioral traits of the final population. Results suggest that both morphology and behavior types are strongly influenced by the environment, with the rotation task producing more proportionate and balanced robots compared to the locomotion task.
AB - In evolution, the evolutionary success of individuals is influenced in equal parts by the environment they are living in and by the adapting capability that they possess. In this work, instead of analyzing the adaptability of a population, we investigate how different environments influence the evolution of morphologies and controllers of modular robots. Previous work analyzed how robot evolution is influenced by different environments while keeping fixed the robot task. However, each environment may present different tasks that influence robot success. In this work, we investigate how different tasks in the same physical environment influence the evolutionary outcome. Specifically, we compare morphologies and behaviors under two tasks, undirected locomotion, and rotation in a flat terrain environment. We perform this analysis by analyzing the morphological and behavioral traits of the final population. Results suggest that both morphology and behavior types are strongly influenced by the environment, with the rotation task producing more proportionate and balanced robots compared to the locomotion task.
KW - evolutionary robotics
KW - morphological evolution
KW - morphological traits
KW - robot environment
KW - robotic task
UR - http://www.scopus.com/inward/record.url?scp=85099692135&partnerID=8YFLogxK
UR - http://www.scopus.com/inward/citedby.url?scp=85099692135&partnerID=8YFLogxK
U2 - 10.1109/SSCI47803.2020.9308272
DO - 10.1109/SSCI47803.2020.9308272
M3 - Conference contribution
AN - SCOPUS:85099692135
T3 - 2020 IEEE Symposium Series on Computational Intelligence, SSCI 2020
SP - 2125
EP - 2131
BT - 2020 IEEE Symposium Series on Computational Intelligence, SSCI 2020
PB - Institute of Electrical and Electronics Engineers Inc.
T2 - 2020 IEEE Symposium Series on Computational Intelligence, SSCI 2020
Y2 - 1 December 2020 through 4 December 2020
ER -