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Computer Evolution of Buildable Objects
Fourth European Conference on Artificial Life, стр. 358--367. MIT Press, (1997)
Аннотация
Creating artificial life forms through evolutionary
robotics faces a "chicken and egg" problem:
learning to control a complex body is dominated by
inductive biases specific to its sensors and effectors,
while building a body which is controllable is
conditioned on the pre-existence of a brain.
The idea of co-evolution of bodies and brains is
becoming popular, but little work has been done in
evolution of physical structure because of the lack of
a general framework for doing it. Evolution of
creatures in simulation has been constrained by the
"reality gap" which implies that resultant objects
are usually not buildable.
The work we present takes a step in the problem of body
evolution by applying evolutionary techniques to the
design of structures assembled out of parts. Evolution
takes place in a simulator we designed, which computes
forces and stresses and predicts failure for
2-dimensional Lego structures. The final printout of
our program is a schematic assembly, which can then be
built physically. We demonstrate its functionality in
several different evolved entities.
