Evolving Morphologies for Locomoting Micro-scale Robotic Agents

Research output: Chapter in Book/Report/Conference proceedingConference Contribution (Conference Proceeding)

1 Citation (Scopus)
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Abstract

Designing new locomotive mechanisms for micro-scale robotic systems could enable new approaches to tackling problems such as transporting cargos, or self-assembling in to pre-programmed architectures. Morphological factors often play a crucial role in determining the behaviour of microsystems, yet understanding how to design these aspects optimally is a challenge. This paper explores how the morphology of a multi-cellular micro-robotic agent can be optimised for reliable locomotion using artificial evolution in a stochastic simulator. Evolved morphologies are found to yield significantly better performance in terms of the reliability of the travel direction and the distance covered, compared to random morphologies.
Original languageEnglish
Title of host publicationProceedings of MARSS 2022 - 5th International Conference on Manipulation, Automation, and Robotics at Small Scales
EditorsSinan Haliyo, Mokrane Boudaoud, Eric Diller, Xinyu Liu, Yu Sun, Sergej Fatikow
PublisherInstitute of Electrical and Electronics Engineers (IEEE)
Number of pages5
ISBN (Electronic)9781665459730
ISBN (Print)9781665459747
DOIs
Publication statusE-pub ahead of print - 2 Sept 2022
EventMARSS 2022 Conference - University of Toronto, Toronto, Canada
Duration: 25 Jul 202229 Jul 2022
Conference number: 55884X
https://marss-conference.org/

Publication series

NameProceedings of MARSS 2022 - 5th International Conference on Manipulation, Automation, and Robotics at Small Scales

Conference

ConferenceMARSS 2022 Conference
Country/TerritoryCanada
CityToronto
Period25/07/2229/07/22
Internet address

Bibliographical note

Funding Information:
This work is supported by the EPSRC Robotics and Autonomous Systems Centre for Doctoral Training (FARSCOPE) (UKRI Grant No. EP/S021795/1) (M.U).

Publisher Copyright:
© 2022 IEEE.

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