Evolutionary Body Building: Adaptive Physical Designs for Robots

Created by W.Langdon from gp-bibliography.bib Revision:1.3872

  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

                 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

                 Saftey margin only 0.2

                 Cites \cite{funes_cs98-198}",

Genetic Programming entries for Pablo J Funes Jordan B Pollack