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International Conference on the Applications of Evolutionary Computation (Part of EvoStar)

EvoApplications 2019: Applications of Evolutionary Computation pp 583–598Cite as

Body Symmetry in Morphologically Evolving Modular Robots

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Part of the book series: Lecture Notes in Computer Science ((LNTCS,volume 11454))

Abstract

Almost all animals natural evolution has produced on Earth have a symmetrical body. In this paper we investigate the evolution of body symmetry in an artificial system where robots evolve. To this end, we define several measures to quantify symmetry in modular robots and see how these relate to fitness that corresponds to a locomotion task. We find that, although there is only a weak correlation between symmetry and fitness over the course of a single evolutionary run, there is a positive correlation between the level of symmetry and maximum fitness when a set of runs is taken into account.

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Author information

Authors and Affiliations

  1. University of Amsterdam, Amsterdam, The Netherlands

    T. van de Velde

  2. Centre for Automation and Robotics UPM-CSIC, Madrid, Spain

    C. Rossi

  3. Vrije Universiteit Amsterdam, Amsterdam, The Netherlands

    A. E. Eiben

Authors
  1. T. van de Velde
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  2. C. Rossi
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  3. A. E. Eiben
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Corresponding author

Correspondence to T. van de Velde .

Editor information

Editors and Affiliations

  1. University of Mainz, Mainz, Germany

    Paul Kaufmann

  2. University of Granada, Granada, Spain

    Pedro A. Castillo

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van de Velde, T., Rossi, C., Eiben, A.E. (2019). Body Symmetry in Morphologically Evolving Modular Robots. In: Kaufmann, P., Castillo, P. (eds) Applications of Evolutionary Computation. EvoApplications 2019. Lecture Notes in Computer Science(), vol 11454. Springer, Cham. https://doi.org/10.1007/978-3-030-16692-2_39

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  • DOI: https://doi.org/10.1007/978-3-030-16692-2_39

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  • Publisher Name: Springer, Cham

  • Print ISBN: 978-3-030-16691-5

  • Online ISBN: 978-3-030-16692-2

  • eBook Packages: Computer ScienceComputer Science (R0)

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