TAILIEUCHUNG - Coevolutionary Robotics Jordan Pollack, Hod Lipson, Pablo Funes, Sevan Ficici, Greg Hornby

Coevolutionary Robotics Jordan Pollack, Hod Lipson, Pablo Funes, Sevan Ficici, Greg Hornby Dynamical and Evolutionary Machine Organization Department of Computer Science Brandeis University Waltham Massachusetts 02454 USA {pollack, lipson, funes, sevan, hornby}@ Abstract We address the fundamental issue of fully automated design (FAD) and construction of inexpensive robots and their controllers. Rather than seek an intelligent general purpose robot — the humanoid robot, ubiquitous in today’s research as the long term goal — we are developing the information technology that can design and fabricate special-purpose mechanisms and controllers to achieve specific short-term objectives. These robots will be constructed from reusable sensors,. | Coevolutionary Robotics Jordan Pollack Hod Lipson Pablo Funes Sevan Ficici Greg Hornby Dynamical and Evolutionary Machine Organization Department of Computer Science Brandeis University Waltham Massachusetts 02454 USA pollack lipson funes sevan hornby @ Abstract We address the fundamental issue of fully automated design FAD and construction of inexpensive robots and their controllers. Rather than seek an intelligent general purpose robot the humanoid robot ubiquitous in today s research as the long term goal we are developing the information technology that can design and fabricate special-purpose mechanisms and controllers to achieve specific short-term objectives. These robots will be constructed from reusable sensors effectors and computers held together with materials custom printed by rapid prototyping RP equipment. By releasing the goal of designing software controllers for EXISTING machines in favor of the automated co-design of software and hardware together we will be replicating the principles used by biology in the creation of complex groups of animals adapted to specific environments. Programming control software has become so difficult as more degrees of freedom and task goals are added to robots that the most advanced ones do not get past the stage of teleoperation or choreographed behavior. In other words they are puppets not robots. Our primary hypothesis is that the reason current approaches to robotics often fail is because of an underestimation of the complexity of the software design problem. Traditionally engineers will build a complex robot complete with powerful motors and sensors and leave for the control programmers to write a program to make it run. But if we look into nature we see animal brains of very high complexity at least as complex as the bodies they inhabit which have been precisely selected to be controllable. New sensor and effector technology for example the micromotor the optical .

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