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Tham khảo tài liệu 'evolutionary robotics part 9', kỹ thuật - công nghệ, cơ khí - chế tạo máy phục vụ nhu cầu học tập, nghiên cứu và làm việc hiệu quả | 312 Frontiers in Evolutionary Robotics dynamically stable locomotion. After all biologically inspired robots implicitly realize higher adaptability to specific tasks and environments i.e. more distance traveled less control complexity and smaller energy consumption on a flat plane than conventional robots. It is obvious then that physical characteristics greatly contribute to high adaptability. In the field of embodied cognitive science such physical characteristics are regarded as gembodimentDh Gibson 1979 . Embodiment is defined as special features in a body that result in high adaptability to tasks and environments. There is increasing evidence that embodiment enhances energy efficiency and reduces the complexity of control architecture in robot design Brooks 1999 Pfeifer Scheier 1999 . However embodiment has only been demonstrated with heuristically developed robots and the design process has not been revealed. One current agreement in embodied artificial intelligence hypothesizes that embodiment can emerge in robot design with the following biologically inspired reproductive process 1 morphologies and controllers of robots are built in the physical world 2 robots need to interact with physical environments to achieve a specific task 3 robot settings are evaluated according to their task achievements and the better ones are reproduced 4 steps 2 to 3 are repeated i.e. physical characteristics resulting in better task achievement tend to remain in the process 5 specific features are hypothesized to form in the body embodiment . At this point such a reproduction process has already been implemented in evolutionary robotics and the evolutionary reproduction process demonstrated a variety of locomotive robots e.g. mainly crawlers in the three-dimensional virtual world Sims 1994 . However this process has just shown the qualitative characteristics of embodiment and no physical and numerical evidence of embodiment has been presented. Therefore in this paper the focus
