In our 1998 article  we proposed that this type of technique should be applied in ER to evolve the body and brain of a robot simultaneously. We thought that the modular approach should fit well with the research in modular robots, such as proposed by Yim  or Pamecha .
However, the first realization of fully coevolved body and behavior came two
years later with Lipson and Pollack's crawlers . Instead of
a modular parts approach, they use a continuously deformable architecture, employing
a rapid-prototyping machine to build the evolved components on-the-fly (fig.