Hale, M, Buchanan Berumen, Edgar orcid.org/0000-0001-6587-8808, Li, Wei orcid.org/0000-0001-9786-585X et al. (8 more authors) (Accepted: 2020) Hardware Design for Autonomous Robot Evolution. In: 2020 IEEE Symposium Series on Computational Intelligence. (In Press)
Abstract
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.
Metadata
Item Type: | Proceedings Paper |
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Authors/Creators: |
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Copyright, Publisher and Additional Information: | 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. |
Dates: |
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Institution: | The University of York |
Academic Units: | The University of York > Faculty of Sciences (York) > Electronic Engineering (York) |
Funding Information: | Funder Grant number EPSRC EP/R03561X/1 |
Depositing User: | Pure (York) |
Date Deposited: | 30 Sep 2020 10:20 |
Last Modified: | 07 Feb 2025 00:08 |
Status: | In Press |
Open Archives Initiative ID (OAI ID): | oai:eprints.whiterose.ac.uk:166131 |
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