- author = "Pablo Funes and Jordan Pollack",
- title = "Evolutionary Body Building: Adaptive Physical Designs for Robots",
- journal = "Artificial Life",
- year = "1998",
- volume = "4",
- number = "4",
- pages = "337--357",
- month = "Fall",
- keywords = "genetic algorithms, genetic programming, evolutionary robotics, body and brain coevolution, adaptive bodies, evolutionary design, lego, children's building blocks",
- ISSN = "1064-5462",
-
URL = "
http://www.demo.cs.brandeis.edu/papers/funpolalife.pdf",
-
URL = "
http://www.demo.cs.brandeis.edu/papers/funpolalife.ps.gz",
- bytes14139576 = "http://www.demo.cs.brandeis.edu/papers/funpolalife.ps",
- broken = "http://mitpress.mit.edu/catalog/item/default.asp?sid=8F59C20B-F846-405E-9C5C-6F86770D37BB&ttype=6&tid=109",
-
DOI = "
doi:10.1162/106454698568639",
- size = "21 pages",
-
abstract = "Creating artificial life forms through evolutionary
robotics faces a 'chicken and egg' problem: learning to
control a complex body is dominated by problems
specific to its sensors and effectors, while building a
body that is controllable assumes the pre-existence of
a brain. The idea of co-evolution of bodies and brains
is becoming popular, but little work has been done in
evolution of physical structure because of the lack of
a general framework for doing it. Evo-lution of
creatures in simulation has usually resulted in virtual
entities which are not buildable, while embodied
evolution in actual robotics is constrained by the slow
pace of real time.
The work we present takes a step in the problem of body evolution by applying evolutionary techniques to the design of structures assembled out of elementary components which stick together. Evolution takes place in a simulator which computes forces and stresses and predicts stability of 3- dimensional brick structures. The final printout of our program is a schematic assembly, which is then built physically. We demonstrate the functionality of this approach to robot body building with many evolved artifacts.",
-
notes = "ABS acrylonitrile butadiene styrene lego
http://en.wikipedia.org/wiki/Acrylonitrile_butadiene_styrene
Data in table 1 p341 appears to be wrong.
Design respresented as lisp s-expression. \cite{koza:book} style crossover and mutation but with domain specific sanity checks. Details of tree pruning unclear. Unclear if repaired s-expression becomes geneotype or not. Only structually stable individuals allowed to become part of population (cf Tackett's \cite{Tackett:1995:grgsscp} soft brood selection).
Saftey margin only 0.2
Cites \cite{funes_cs98-198}",
