Morphological Attractors in Darwinian and Lamarckian Evolutionary Robot Systems

Milan Jelisavcic, Karine Miras, A. E. Eiben

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

Abstract

Morphological evolution in a robotic system produces novel robot bodies after each reproduction event. This implies the necessity for life-time learning so that newborn robots can acquire a controller that fits their body. Thus, we obtain a system where evolution and learning are combined. This combination can be Darwinian or Lamarckian and in this paper, we compare the two. In particular, we investigate the evolved morphologies under these regimes for modular robots evolved for good locomotion. Using eight quantifiable morphological descriptors to characterize the physical properties of robots we compare the regions of attraction in the resulting 8-dimensional space. The results show prominent differences in symmetry, size, proportion, and coverage.

Original languageEnglish
Title of host publicationProceedings of the 2018 IEEE Symposium Series on Computational Intelligence, SSCI 2018
EditorsSuresh Sundaram
PublisherInstitute of Electrical and Electronics Engineers Inc.
Pages859-866
Number of pages8
ISBN (Electronic)9781538692769
DOIs
Publication statusPublished - 28 Jan 2019
Event8th IEEE Symposium Series on Computational Intelligence, SSCI 2018 - Bangalore, India
Duration: 18 Nov 201821 Nov 2018

Conference

Conference8th IEEE Symposium Series on Computational Intelligence, SSCI 2018
CountryIndia
CityBangalore
Period18/11/1821/11/18

Keywords

  • Lamarckian evolution
  • Modular robots
  • Online learning
  • Embodied evolution
  • Artificial life
  • Evolutionary robotics

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    Jelisavcic, M., Miras, K., & Eiben, A. E. (2019). Morphological Attractors in Darwinian and Lamarckian Evolutionary Robot Systems. In S. Sundaram (Ed.), Proceedings of the 2018 IEEE Symposium Series on Computational Intelligence, SSCI 2018 (pp. 859-866). [8628844] Institute of Electrical and Electronics Engineers Inc.. https://doi.org/10.1109/SSCI.2018.8628844, https://doi.org/10.1109/SSCI.2018.8628844