From Virtual Creatures to Feasible Robots

Andres Faina, Daniel Souto, Félix Orjales, Francisco Bellas, Richard Duro

Research output: Contribution to conference - NOT published in proceeding or journalPaperResearch


This paper provides a brief description of the robots obtained using the evolutionary design system called EDHMoR (Evolutionary Designer of Heterogeneous Modular Robots) that are displayed in the corresponding video [1]. This system is based on the coevolution of morphology and control with the main objective of obtaining feasible and manufacturable robots. To this end, a modular architecture has been defined and implemented [2], which faces real hardware issues and promotes the evolvability of the robotic structures by considering heterogeneous modules with a large number of connection faces per module. These modules constitute the building blocks the EDHMoR system uses to design the robots. Moreover, an evaluation methodology is proposed as a key element of EDMHoR, which is based on modifications in the environment that can produce more useful and realistic robots without limiting the search space. The video shows some of the resulting robots for two different tasks, painting a surface and walking, and the influence of these modifications. Finally, some real tests of these morphologies are presented.
Original languageEnglish
Publication date16 Jul 2014
Number of pages2
Publication statusPublished - 16 Jul 2014
EventGenetic and Evolutionary Computation Conference: Virtual Creatures Competition - Vancouver, Canada
Duration: 12 Jul 201416 Jul 2014
Conference number: 23


ConferenceGenetic and Evolutionary Computation Conference
Other23rd International Conference on Genetic Algorihms (ICGA) and the 19th Annual Genetic Programming COnference (GP)
Internet address


  • Robotics
  • Evolutionary robotics
  • Virtual creatures


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