论文标题
现实世界的形态进化是可行的
Real World Morphological Evolution is Feasible
论文作者
论文摘要
进化算法为机器人车身的自动设计提供了巨大的希望，并将其定制为特定的环境或任务。大多数研究都是在物理模拟器中的简化模型或虚拟机器人上进行的，这些模拟器不会捕获现实世界的自然噪音和丰富性。这些虚拟机器人中很少有物理机器人建造，而在其实际环境中，很少会进一步改善少数机器人，从而限制了自动设计过程的有效性。我们利用形状转移四倍的机器人，这使我们能够在其现实世界中优化设计。机器人能够在操作过程中更改腿的长度，并且足以适应复杂的实验和任务。在几种不同的情况下，我们具有共同进化的控制和形态，并且已经看到该算法能够仅通过现实世界实验来利用动态形态。
Evolutionary algorithms offer great promise for the automatic design of robot bodies, tailoring them to specific environments or tasks. Most research is done on simplified models or virtual robots in physics simulators, which do not capture the natural noise and richness of the real world. Very few of these virtual robots are built as physical robots, and the few that are will rarely be further improved in the actual environment they operate in, limiting the effectiveness of the automatic design process. We utilize our shape-shifting quadruped robot, which allows us to optimize the design in its real-world environment. The robot is able to change the length of its legs during operation, and is robust enough for complex experiments and tasks. We have co-evolved control and morphology in several different scenarios, and have seen that the algorithm is able to exploit the dynamic morphology solely through real-world experiments.
