We introduce a method that permits to co-evolve the body and the control properties of robots. It can be used to adapt the morphological traits of robots with a hand-designed morphological bauplan or to evolve the morphological bauplan as well. Our results indicate that robots with co-adapted body and control traits outperform robots with fixed hand-designed morphologies. Interestingly, the advantage is not due to the selection of better morphologies but rather to the mutual scaffolding process that results from the possibility to co-adapt the morphological traits to the control traits and vice versa. Our results also demonstrate that morphological variations do not necessarily have destructive effects on robots’ skills.
The dynamic of body and brain co-evolution
Pagliuca P.
Primo
;Nolfi S.
2022
Abstract
We introduce a method that permits to co-evolve the body and the control properties of robots. It can be used to adapt the morphological traits of robots with a hand-designed morphological bauplan or to evolve the morphological bauplan as well. Our results indicate that robots with co-adapted body and control traits outperform robots with fixed hand-designed morphologies. Interestingly, the advantage is not due to the selection of better morphologies but rather to the mutual scaffolding process that results from the possibility to co-adapt the morphological traits to the control traits and vice versa. Our results also demonstrate that morphological variations do not necessarily have destructive effects on robots’ skills.| File | Dimensione | Formato | |
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The dynamic of body and brain co-evolution.pdf
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Descrizione: Pagliuca P, Nolfi S. The dynamic of body and brain co-evolution. Adaptive Behavior. 2022;30(3):245-255. doi:10.1177/1059712321994685
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2011.11440v1(1).pdf
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Descrizione: Pagliuca P, Nolfi S. The dynamic of body and brain co-evolution. Adaptive Behavior. 2022;30(3):245-255. doi:10.1177/1059712321994685, File pubblico: https://arxiv.org/pdf/2011.11440
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