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Introduction and Related Work
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Evolution of Complexity in
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Summary: Contributions of this
CHAPTER 2
Evolution of Adaptive Morphology
Introduction and Related Work
Adaptive Morphology
ALife and Morphology
Nouvelle
AI
Artificial Design
Simulating Bricks Structures
Background
Lego Bricks
Joints in two dimensions
From 2- to 3-dimensional joints
Networks of Torque Propagation
NTP Equations
NTP Algorithms
Greedy Solver
Multicommodity Solver
Embedded Solver
A Step-By-Step Example
Evolving Brick structures
Coding for 2D and 3D structures
Mutation and Crossover
Evolutionary Algorithm
Initial Experiments
Reaching a target point: Bridges and Scaffolds
External Loads: Horizontal crane arm
Evolving three-dimensional Lego structures: Table experiment
Problems defining the fitness function
Smooth Mutations and the Role of Recombination
Results
Artificial Evolution Re-Discovers Building Principles
The Long Bridge: Cantilevering
Exaptations, or `change of function'
The Crane: Triangle
Optimization
Symmetry, Branching, Modularity: Lego Tree
Recombination Example
Discovery is creativity: EvoCAD
Evolutionary Algorithm
Brick Problem Description Language
Target Points and Target Loads
Fitness Function
Results
Discussion
Modeling and the Reality Gap
Modular and Reconfigurable Robotics
Movement Planning as Evolution?
Cellular and Modularity-Sensitive Representations
Surprise in Design
Conclusions
Pablo Funes
2001-05-08
