Scalable co-evolution of soft robot properties and gaits
نویسندگان
چکیده
One of the outstanding challenges in soft robotics is the chicken-and-egg problem of body/brain design: generation of locomotion is predicated on the existence of a locomotioncapable body, and generation of body plans is predicated upon the existence of effective locomotion. This problem is compounded by the high degree of coupling between the material properties of a soft body (such as stiffness or damping coefficients) and the effectiveness of a gait. In this work we describe a means by which the material properties of a simulated soft body co-evolve alongside locomotive gaits. Improvements in simulation time, with no loss of overall fitness fitness, are obtained by incrementally increasing mesh density over the course of evolution.
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