Generative Representations for Design Automation

3D Genobots

DEMO Home Gregory S. Hornby
hornby@cs.brandeis.edu
Dynamic & Evolutionary Machine Organization Lab


Hierarchically-Modular 3D Locomoting Genobots

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.



gbot_kayak.avi (8.8M)


gbot_quatro1.mov (600k)


gbot_quatro1.mov (600k)


Genobots constructed with the help of: Hod Lipson, John Rieffel, and Jordan Pollack.




For the following creatures, blue is drawn for bars ending in non-actuated joints and green for bars ending in actuated joints -- with dark green stars at the actuated joints.

Rolling Cloverleafs (1.7M)


Undulating Serpent (1.7M)


Rolling Rectangles (2.2M)

An animation of several of these oscillator-network controlled robots: genobots3d.mpg (1.7M).
These robots are controlled with neural networks:

(5.8M)


(5.8M)


(5.8M)


(5.8M)

An animation of several of these neural-network controlled robots: geno_net.mpg (5.8M).
For the following genobots, green is drawn for bars ending in non-actuated joints and blue for bars ending in actuated joints.

Kayaker


Twister


M


Paddlewheel Roller


An Inchworm
with stabilizing arms.


Rolling Tree


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hornby@cs.brandeis.edu - Last modified: June 12, 2003
Copyright © Gregory Hornby