Robotic task affects the resulting morphology and behaviour in evolutionary robotics

Matteo De Carlo, Daan Zeeuwe, Eliseo Ferrante, Gerben Meynen, Jacintha Ellers, A. E. Eiben

Research output: Chapter in Book/Report/Conference proceedingConference contributionAcademicpeer-review

Abstract

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.

Original languageEnglish
Title of host publication2020 IEEE Symposium Series on Computational Intelligence, SSCI 2020
PublisherInstitute of Electrical and Electronics Engineers Inc.
Pages2125-2131
Number of pages7
ISBN (Electronic)9781728125473
DOIs
Publication statusPublished - 1 Dec 2020
Event2020 IEEE Symposium Series on Computational Intelligence, SSCI 2020 - Virtual, Canberra, Australia
Duration: 1 Dec 20204 Dec 2020

Publication series

Name2020 IEEE Symposium Series on Computational Intelligence, SSCI 2020

Conference

Conference2020 IEEE Symposium Series on Computational Intelligence, SSCI 2020
CountryAustralia
CityVirtual, Canberra
Period01/12/202004/12/2020

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