Generative Representations for Design Automation

2D Genobots

DEMO Home Gregory S. Hornby
Dynamic & Evolutionary Machine Organization Lab

Hierarchically Regular Locomoting Robots (Genobots)

Here we evolve both the morphology and the controllers for different robots. The system for generating designs consists of the design builder and simulator, the L-system module and the evolutionary algorithm. The design builder takes a decoded build sequence and generates a robot and controller. Once built, the robot's movement is simulated for a fixed amount of time and evaluated for distance. This distance is the basis of a fitness function for the evoluationary algorithm to evolve the L-systems.

A constructed genobot:

gbot_m.avi (11.3M)
Below are locomotion sequences for two different creatures: a star creature with 43 bars and 24 actuated joints; and an inchworm with 49 bars and 7 actuated joints.

Step 1

Step 2

Step 3

Step 4

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Step 2

Step 3

Step 4


tbot_m.avi (11M)

In the following locomotion animations, green is drawn for bars ending in non-actuated joints and blue for bars ending in actuated joints.

Sophia - Walking Star
43 bars, 24 actuated joints.

'Lil Rolly - Rolling Circle
20 bars, 8 actuated joints.

Roland - Rolling Triangle
67 bars, 28 actuated joints.

Inchworm #1
30 bars, 8 actuated joints.

Inchworm #2
73 bars, 7 actuated joints.

Inchworm #3
23 bars, 10 actuated joints.

Inchworm #4
24 bars, 12 actuated joints.

25 bars, 7 actuated joints.

Walking M
13 bars, 6 actuated joints.

27 bars, 6 actuated joints.

143 bars, 16 actuated joints.

Giant Serpent
164 bars, 61 actuated joints.

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