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Gregory S. Hornby hornby@cs.brandeis.edu Dynamic & Evolutionary Machine Organization Lab |
Here we evolve both the morphology and the controllers for different robots. The system for generating designs consists of the design builder and simulator, the L-system module and the evolutionary algorithm. The design builder takes a decoded build sequence and generates a robot and controller. Once built, the robot's movement is simulated for a fixed amount of time and evaluated for distance. This distance is the basis of a fitness function for the evoluationary algorithm to evolve the L-systems.
A constructed genobot:
![]() gbot_m.avi (11.3M) |
![]() Step 1 |
![]() Step 2 |
![]() Step 3 |
![]() Step 4 |
![]() Step 1 |
![]() Step 2 |
![]() Step 3 |
![]() Step 4 |
![]() m-walker.mpg |
![]() tbot_m.avi (11M) |
![]() Sophia - Walking Star 43 bars, 24 actuated joints. |
![]() 'Lil Rolly - Rolling Circle 20 bars, 8 actuated joints. |
![]() Roland - Rolling Triangle 67 bars, 28 actuated joints. |
![]() Inchworm #1 30 bars, 8 actuated joints. |
![]() Inchworm #2 73 bars, 7 actuated joints. |
![]() Inchworm #3 23 bars, 10 actuated joints. |
![]() Inchworm #4 24 bars, 12 actuated joints. |
![]() Reindeer 25 bars, 7 actuated joints. |
![]() Walking M 13 bars, 6 actuated joints. |
![]() Scorpion 27 bars, 6 actuated joints. |
![]() Dragon 143 bars, 16 actuated joints. |
![]() Giant Serpent 164 bars, 61 actuated joints. |
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hornby@cs.brandeis.edu - Last modified: June 12, 2003 |
Copyright © Gregory Hornby |