Morphological Evolution of Dynamic Structures in a 3-Dimensional Simulated Environment

Abstract

The results presented in this paper are a part of the second phase of a body of research with the goal of co-evolving the mind and morphology of dynamic robots. We use a 3-Dimensional simulated gravitational environment to evolve LEGO structures. The focus of the current research is evolution of locomotion. The genetic algorithm uses a fitness function that encompasses the structure's movement, stability, and tension. Ten evolution tests were performed and all successfully yielded moving robots.