research-article

Evolving flexible joint morphologies

Authors:

Jared M. Moore,

Philip K. McKinleyAuthors Info & Claims

GECCO '12: Proceedings of the 14th annual conference on Genetic and evolutionary computation

Pages 145 - 152

https://doi.org/10.1145/2330163.2330184

Published: 07 July 2012 Publication History

Abstract

Transferring virtual robotic designs into physical robots has become possible with the development of 3D printers. Accurately simulating the performance of real robots in a virtual environment requires modeling a variety of conditions, including the physical composition of the robots themselves. In this paper, we investigate how modeling material flexibility through the use of a passive joint affects the resulting arm morphology and gait of a crawling virtual robot. Results indicate that flexibility can be a beneficial characteristic of robotic morphology design while also providing insight into the benefits of modeling material properties in a simulation environment.

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Cited By

Corucci FCheney NGiorgio-Serchi FBongard JLaschi C(2018)Evolving Soft Locomotion in Aquatic and Terrestrial Environments: Effects of Material Properties and Environmental TransitionsSoft Robotics10.1089/soro.2017.00555:4(475-495)Online publication date: 28-Aug-2018
https://doi.org/10.1089/soro.2017.0055
Radhakrishna Prabhu SSeals RKyberd PWetherall J(2018)A survey on evolutionary-aided design in roboticsRobotica10.1017/S026357471800074736:12(1804-1821)Online publication date: 17-Aug-2018
https://doi.org/10.1017/S0263574718000747
Moore JAlba E(2013)Applying evolutionary computation to harness passive material properties in robotsProceedings of the 15th annual conference companion on Genetic and evolutionary computation10.1145/2464576.2482755(1695-1698)Online publication date: 6-Jul-2013
https://dl.acm.org/doi/10.1145/2464576.2482755
Show More Cited By

Index Terms

Evolving flexible joint morphologies
1. Computer systems organization
  1. Embedded and cyber-physical systems
    1. Robotics
2. Computing methodologies
  1. Artificial intelligence
    1. Control methods
      1. Robotic planning
    2. Planning and scheduling
      1. Robotic planning

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cover image ACM Conferences

GECCO '12: Proceedings of the 14th annual conference on Genetic and evolutionary computation

July 2012

1396 pages

ISBN:9781450311779

DOI:10.1145/2330163

Editor:
Terence Soule
University of Idaho, USA
,
General Chair:
Jason H. Moore
Dartmouth College, USA

Copyright © 2012 ACM.

Permission to make digital or hard copies of all or part of this work for personal or classroom use is granted without fee provided that copies are not made or distributed for profit or commercial advantage and that copies bear this notice and the full citation on the first page. Copyrights for components of this work owned by others than ACM must be honored. Abstracting with credit is permitted. To copy otherwise, or republish, to post on servers or to redistribute to lists, requires prior specific permission and/or a fee. Request permissions from [email protected]

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SIGEVO: ACM Special Interest Group on Genetic and Evolutionary Computation

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Association for Computing Machinery

New York, NY, United States

Publication History

Published: 07 July 2012

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GECCO '12

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SIGEVO

GECCO '12: Genetic and Evolutionary Computation Conference

July 7 - 11, 2012

Pennsylvania, Philadelphia, USA

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Overall Acceptance Rate 1,669 of 4,410 submissions, 38%

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Cited By

Corucci FCheney NGiorgio-Serchi FBongard JLaschi C(2018)Evolving Soft Locomotion in Aquatic and Terrestrial Environments: Effects of Material Properties and Environmental TransitionsSoft Robotics10.1089/soro.2017.00555:4(475-495)Online publication date: 28-Aug-2018
https://doi.org/10.1089/soro.2017.0055
Radhakrishna Prabhu SSeals RKyberd PWetherall J(2018)A survey on evolutionary-aided design in roboticsRobotica10.1017/S026357471800074736:12(1804-1821)Online publication date: 17-Aug-2018
https://doi.org/10.1017/S0263574718000747
Moore JAlba E(2013)Applying evolutionary computation to harness passive material properties in robotsProceedings of the 15th annual conference companion on Genetic and evolutionary computation10.1145/2464576.2482755(1695-1698)Online publication date: 6-Jul-2013
https://dl.acm.org/doi/10.1145/2464576.2482755
Moore JClark AMcKinley PAlba E(2013)Evolution of station keeping as a response to flows in an aquatic robotProceedings of the 15th annual conference on Genetic and evolutionary computation10.1145/2463372.2463402(239-246)Online publication date: 6-Jul-2013
https://dl.acm.org/doi/10.1145/2463372.2463402
Moore JMcKinley P(2013)Evolution of an amphibious robot with passive joints2013 IEEE Congress on Evolutionary Computation10.1109/CEC.2013.6557733(1443-1450)Online publication date: Jun-2013
https://doi.org/10.1109/CEC.2013.6557733

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