Unshackling evolution: Evolving soft robots with multiple materials and a powerful generative encoding

GECCO 2013 - Proceedings of the 2013 Genetic and Evolutionary Computation Conference

Volumn , Issue , 2013, Pages 167-174

  Cheney, Nick ^a   MacCurdy, Robert ^a   Clune, Jeff ^b   Lipson, Hod ^a  

^a Cornell University ^*  (United States)

^b UNIVERSITY OF WYOMING   (United States)

Author keywords

CPPN NEAT; Evolving morphologies; Generative encodings; Genetic algorithms; HyperNEAT; Soft robotics

Indexed keywords

COMPOSITIONAL PATTERN-PRODUCING NETWORKS; CPPN-NEAT; DIRECT ENCODING; ENCODINGS; HYPERNEAT; MULTI MATERIALS; MULTIPLE MATERIALS; SOFT-ROBOTICS;

BIOLOGY; ENCODING (SYMBOLS); GENETIC ALGORITHMS; MATERIALS; MORPHOLOGY; ROBOTS;

COMPLEX NETWORKS;

EID: 84883131897     PISSN: None     EISSN: None     Source Type: Conference Proceeding    
DOI: 10.1145/2463372.2463404     Document Type: Conference Paper

References (38)

1. J. E. Auerbach and J. C. Bongard. Dynamic resolution in the co-evolution of morphology and control. In Artificial Life XII: Proc. of the 12th International Conf. on the Simulation and Synthesis of Living Systems, 2010.
2. J. E. Auerbach and J. C. Bongard. Evolving CPPNs to grow three-dimensional physical structures. In Proc. of the Genetic & Evolutionary Computation Conf., pages 627-634. ACM, 2010.
3. J. E. Auerbach and J. C. Bongard. On the relationship between environmental and mechanical complexity in evolved robots. In Proc. of the Artificial Life Conf., pages 309-316, 2012.
4. J. E. Auerbach and J. C. Bongard. On the relationship between environmental and morphological complexity in evolved robots. In Proc. of the Genetic & Evolutionary Computation Conf., pages 521-528. ACM, 2012.
5. J. Bongard. Evolving modular genetic regulatory networks. In Evolutionary Computation, 2002. Proc. of the 2002 Congress on, volume 2, pages 1872-1877. IEEE, 2002.
6. J. Clune, B. Beckmann, C. Ofria, and R. Pennock. Evolving coordinated quadruped gaits with the HyperNEAT generative encoding. In Proceedings of the IEEE Congress on Evolutionary Computation, pages 2764-2771, 2009.
7. J. Clune and H. Lipson. Evolving three-dimensional objects with a generative encoding inspired by developmental biology. In Proc. of the European Conf. on Artificial Life, pages 144-148, 2011.
8. J. Clune, J.-B. Mouret, and H. Lipson. The evolutionary origins of modularity. Proc. of the Royal Society B, 280(20122863), 2013.
9. J. Clune, K. O. Stanley, R. T. Pennock, and C. Ofria. On the performance of indirect encoding across the continuum of regularity. IEEE Trans. on Evolutionary Computation, 15(4):346-367, 2011.
10. J. Gauci and K. O. Stanley. Generating large-scale neural networks through discovering geometric regularities. In Proc. of the Genetic & Evolutionary Computation Conf., pages 997-1004. ACM, 2007.
11. J. D. Hiller and H. Lipson. Multi-material topological optimization of structures and mechanisms. In Proc. of the Genetic & Evolutionary Computation Conf., pages 1521-1528. ACM, 2009.
12. J. D. Hiller and H. Lipson. Evolving amorphous robots. Artificial Life XII, pages 717-724, 2010.
13. J. D. Hiller and H. Lipson. Automatic design and manufacture of soft robots. IEEE Trans. on Robotics, 28(2):457-466, 2012.
14. J. D. Hiller and H. Lipson. Dynamic simulation of soft heterogeneous objects. ArXiv:1212.2845, 2012.
15. S. Hirose and Y. Umetani. The development of soft gripper for the versatile robot hand. Mechanism and Machine Theory, 13(3):351-359, 1978.
16. G. S. Hornby, H. Lipson, and J. B. Pollack. Generative representations for the automated design of modular physical robots. IEEE Trans. on Robotics and Automation, 19(4):703-719, 2003.
17. G. S. Hornby and J. B. Pollack. Evolving L-systems to generate virtual creatures. Computers & Graphics, 25(6):1041-1048, 2001.
18. M. Joachimczak and B. Wróbel. Co-evolution of morphology and control of soft-bodied multicellular animats. In Proc. of the Genetic & Evolutionary Computation Conf., pages 561-568. ACM, 2012.
19. M. Komosinski and A. Rotaru-Varga. Comparison of different genotype encodings for simulated three dimensional agents. Artificial Life, 7(4):395-418, 2001.
20. S. Lee, J. Yosinski, K. Glette, H. Lipson, and J. Clune. Evolving gaits for physical robots with the HyperNEAT generative encoding: the benefits of simulation., 2013.
21. J. Lehman and K. O. Stanley. Evolving a diversity of virtual creatures through novelty search and local competition. In Proc. of the Genetic & Evolutionary Computation Conf., pages 211-218. ACM, 2011.
22. H. Lipson and J. B. Pollack. Automatic design and manufacture of robotic lifeforms. Nature, 406(6799):974-978, 2000.
23. W. E. Lorensen and H. E. Cline. Marching cubes: A high resolution 3D surface construction algorithm. In ACM Siggraph, volume 21, pages 163-169, 1987.
24. J.-B. Mouret and J. Clune. An algorithm to create phenotype-fitness maps. Proc. of the Artificial Life Conf., pages 593-594, 2012.
25. S. Nolfi, D. Floreano, O. Miglino, and F. Mondada. How to evolve autonomous robots: Different approaches in evolutionary robotics. In Artificial Life IV, pages 190-197. Cambridge, MA: MIT Press, 1994.
26. R. Pfeifer and J. C. Bongard. How the body shapes the way we think: a new view of intelligence. MIT press, 2006.
27. J. Rieffel, F. Saunders, S. Nadimpalli, H. Zhou, S. Hassoun, J. Rife, and B. Trimmer. Evolving soft robotic locomotion in PhysX. In Proc. of the Genetic & Evolutionary Computation Conf., pages 2499-2504. ACM, 2009.
28. S. Sanan, J. Moidel, and C. G. Atkeson. A continuum approach to safe robots for physical human interaction. In Int'l Symposium on Quality of Life Technology, 2011.
29. J. Secretan, N. Beato, D. B. D'Ambrosio, A. Rodriguez, A. Campbell, and K. O. Stanley. Picbreeder: evolving pictures collaboratively online. In Proc. of the 26th SIGCHI Conf. on Human Factors in Computing Systems, pages 1759-1768. ACM, 2008.
30. K. Sims. Evolving virtual creatures. In Proc. of the 21st Annual Conf. on Computer Graphics and Interactive Techniques, pages 15-22. ACM, 1994.
31. K. O. Stanley. Compositional pattern producing networks: A novel abstraction of development. Genetic Programming and Evolvable Machines, 8(2):131-162, 2007.
32. K. O. Stanley, D. B. D'Ambrosio, and J. Gauci. A hypercube-based encoding for evolving large-scale neural networks. Artificial Life, 15(2):185-212, 2009.
33. K. O. Stanley and R. Miikkulainen. Evolving neural networks through augmenting topologies. Evolutionary Computation, 10(2):99-127, 2002.
34. K. O. Stanley and R. Miikkulainen. A taxonomy for artificial embryogeny. Artificial Life, 9(2):93-130, 2003.
35. D. Trivedi, C. Rahn, W. Kier, and I. Walker. Soft robotics: Biological inspiration, state of the art, and future research. Applied Bionics and Biomechanics, 5(3):99-117, 2008.
36. P. Verbancsics and K. O. Stanley. Constraining connectivity to encourage modularity in HyperNEAT. In Proceedings of the 13th annual conference on Genetic and evolutionary computation, pages 1483-1490. ACM, 2011.
37. M. Wall. Galib: A c++ library of genetic algorithm components. Mechanical Engineering Department, Massachusetts Institute of Technology, 87, 1996.
38. B. G. Woolley and K. O. Stanley. On the deleterious effects of a priori objectives on evolution and representation. In Proc. of the Genetic and Evolutionary Computation Conf., pages 957-964. ACM, 2011.