论文标题
身体和大脑共同进化的动态
The Dynamic of Body and Brain Co-Evolution
论文作者
论文摘要
我们引入了一种允许共同进化机器人的身体和控制特性的方法。它可以用来通过手工设计的形态bauplan来适应机器人的形态特征，也可以进化形态的bauplan。我们的结果表明，具有共同适应的身体和控制性状的机器人的表现优于固定手工设计的形态的机器人。有趣的是，优势不是由于选择了更好的形态学，而是由于相互脚手架的过程是由于将形态特征授予控制性状的可能性而产生的，反之亦然。我们的结果还表明，形态变化不一定会对机器人技能产生破坏性影响。
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 robot skills.
