Evolving Scalable Soft Robots Senior Thesis Presentation Ben Berger Advisor: John Rieffel.

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Presentation transcript:

Evolving Scalable Soft Robots Senior Thesis Presentation Ben Berger Advisor: John Rieffel

cdn.com/uploads/chorus_image/image/ /soft_robot_lead.0_cinema_ jpg Soft robot examples

How do we make soft robots move? (Hint: It’s really hard!)

We can outsource cognition to the body, analogous to how a fly’s wings beat 4x faster than its nerve impulses mb/c/c2/Motion_of_Insectwing.gif/250px- Motion_of_Insectwing.gif /6/6e/Drosophila-drawing.svg/236px-Drosophila- drawing.svg.png

Rieffel and Smith [7]

idbdb gadbc rabcb sddcc sadcd 1

Generative Encoding Rieffel and Smith [7]

Generate Population of Encodings For each encoding: Select Best Designs Breed New Population Grow RobotEvaluate in Simulation

SEGMENTATION FAULTS Too many graphics windows Command line arguments Global variables Memory leaks....

Fitness jumps to over 40 trillion

icdbc gbccc sadbc rcabb gaacd 100

ibdcb gcbdb sacda gbabb raccc

How do we create scalable soft robots?

Ontogenetic Trajectory Danise [1]

Extra SmallSmallMediumLarge…

Pareto Dominance GE3 dominates across all categories

Generate Population of Encodings For each encoding: Select Best Designs Breed New Population Grow RobotEvaluate in Simulation

Generate Population of Encodings For each expansion: Remove Dominated Individuals Breed New Population Grow RobotEvaluate in Simulation For each encoding:

Future Work Pareto front code will be done next week. Jupiter, I’m coming for you!

ibdcb gcbdb sacda gbabb raccc

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