Optimizing the Sensory Apparatus of Voxel-Based Soft Robots Through Evolution and Babbling

Abstract The behavior of biological and artificial agents strongly depends, in general, on the data acquired through sensors while interacting with the environment. The sensory apparatus, namely the location and kind of sensors, has therefore a great impact on an agent’s ability of exhibiting comple...
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Autor*in:	Ferigo, Andrea [verfasserIn] Medvet, Eric Iacca, Giovanni

Format:	E-Artikel
Sprache:	Englisch

Erschienen:	2021

Schlagwörter:	Adaptation Morphological evolution Embodied cognition CMA-ES

Anmerkung:	© The Author(s), under exclusive licence to Springer Nature Singapore Pte Ltd 2021

Übergeordnetes Werk:	Enthalten in: SN Computer Science - Singapore : Springer Singapore, 2020, 3(2021), 2 vom: 23. Dez.
Übergeordnetes Werk:	volume:3 ; year:2021 ; number:2 ; day:23 ; month:12

Links:	Volltext

DOI / URN:	10.1007/s42979-021-00987-w

Katalog-ID:	SPR045839239

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allfields	10.1007/s42979-021-00987-w doi (DE-627)SPR045839239 (SPR)s42979-021-00987-w-e DE-627 ger DE-627 rakwb eng Ferigo, Andrea verfasserin (orcid)0000-0003-1795-011X aut Optimizing the Sensory Apparatus of Voxel-Based Soft Robots Through Evolution and Babbling 2021 Text txt rdacontent Computermedien c rdamedia Online-Ressource cr rdacarrier © The Author(s), under exclusive licence to Springer Nature Singapore Pte Ltd 2021 Abstract The behavior of biological and artificial agents strongly depends, in general, on the data acquired through sensors while interacting with the environment. The sensory apparatus, namely the location and kind of sensors, has therefore a great impact on an agent’s ability of exhibiting complex behaviors. Considering the case of robots, sensors are usually a design choice that is hard to take, due to the complexity of the robotic structure and a potentially large number of possible combinations. Here, we explore the possibility of using evolutionary algorithms to automatically design (and optimizing their use) the sensors of voxel-based soft robots (VSRs), a kind of robots composed of multiple deformable components. We chose these robots due to their intrinsic modularity, which allows to freely shape the robot body, brain, and sensory apparatus. We consider a set of sensors that allow agents to sense themselves and their environment and we show, experimentally, that the effectiveness of the sensory apparatus depends on the body shape and the actuation capability. Then, we show that evolutionary optimization is able to evolve effective sensory apparatuses, even with constraints on the availability of sensors. We also consider how information from sensors can be exploited more efficiently by introducing the concept of “sensor babbling”, which aims to enhance the robots’ perception and, hence, their performances. Adaptation (dpeaa)DE-He213 Morphological evolution (dpeaa)DE-He213 Embodied cognition (dpeaa)DE-He213 CMA-ES (dpeaa)DE-He213 Medvet, Eric (orcid)0000-0001-5652-2113 aut Iacca, Giovanni (orcid)0000-0001-9723-1830 aut Enthalten in SN Computer Science Singapore : Springer Singapore, 2020 3(2021), 2 vom: 23. Dez. (DE-627)1668832976 (DE-600)2977367-2 2661-8907 nnns volume:3 year:2021 number:2 day:23 month:12 https://dx.doi.org/10.1007/s42979-021-00987-w lizenzpflichtig Volltext GBV_USEFLAG_A SYSFLAG_A GBV_SPRINGER GBV_ILN_11 GBV_ILN_20 GBV_ILN_22 GBV_ILN_23 GBV_ILN_24 GBV_ILN_31 GBV_ILN_32 GBV_ILN_39 GBV_ILN_40 GBV_ILN_60 GBV_ILN_62 GBV_ILN_63 GBV_ILN_65 GBV_ILN_69 GBV_ILN_70 GBV_ILN_73 GBV_ILN_74 GBV_ILN_90 GBV_ILN_95 GBV_ILN_100 GBV_ILN_105 GBV_ILN_110 GBV_ILN_138 GBV_ILN_150 GBV_ILN_151 GBV_ILN_152 GBV_ILN_161 GBV_ILN_170 GBV_ILN_171 GBV_ILN_187 GBV_ILN_213 GBV_ILN_224 GBV_ILN_230 GBV_ILN_250 GBV_ILN_281 GBV_ILN_285 GBV_ILN_293 GBV_ILN_370 GBV_ILN_602 GBV_ILN_636 GBV_ILN_702 GBV_ILN_2001 GBV_ILN_2003 GBV_ILN_2004 GBV_ILN_2005 GBV_ILN_2006 GBV_ILN_2007 GBV_ILN_2008 GBV_ILN_2009 GBV_ILN_2010 GBV_ILN_2011 GBV_ILN_2014 GBV_ILN_2015 GBV_ILN_2020 GBV_ILN_2021 GBV_ILN_2025 GBV_ILN_2026 GBV_ILN_2027 GBV_ILN_2031 GBV_ILN_2034 GBV_ILN_2037 GBV_ILN_2038 GBV_ILN_2039 GBV_ILN_2044 GBV_ILN_2048 GBV_ILN_2049 GBV_ILN_2050 GBV_ILN_2055 GBV_ILN_2056 GBV_ILN_2057 GBV_ILN_2059 GBV_ILN_2061 GBV_ILN_2064 GBV_ILN_2065 GBV_ILN_2068 GBV_ILN_2088 GBV_ILN_2093 GBV_ILN_2106 GBV_ILN_2107 GBV_ILN_2108 GBV_ILN_2110 GBV_ILN_2111 GBV_ILN_2112 GBV_ILN_2113 GBV_ILN_2118 GBV_ILN_2122 GBV_ILN_2129 GBV_ILN_2143 GBV_ILN_2144 GBV_ILN_2147 GBV_ILN_2148 GBV_ILN_2152 GBV_ILN_2153 GBV_ILN_2190 GBV_ILN_2232 GBV_ILN_2336 GBV_ILN_2446 GBV_ILN_2470 GBV_ILN_2472 GBV_ILN_2507 GBV_ILN_2522 GBV_ILN_4035 GBV_ILN_4037 GBV_ILN_4046 GBV_ILN_4112 GBV_ILN_4125 GBV_ILN_4126 GBV_ILN_4242 GBV_ILN_4246 GBV_ILN_4249 GBV_ILN_4251 GBV_ILN_4305 GBV_ILN_4306 GBV_ILN_4307 GBV_ILN_4313 GBV_ILN_4322 GBV_ILN_4323 GBV_ILN_4324 GBV_ILN_4325 GBV_ILN_4326 GBV_ILN_4328 GBV_ILN_4333 GBV_ILN_4334 GBV_ILN_4335 GBV_ILN_4336 GBV_ILN_4338 GBV_ILN_4393 GBV_ILN_4700 AR 3 2021 2 23 12
spelling	10.1007/s42979-021-00987-w doi (DE-627)SPR045839239 (SPR)s42979-021-00987-w-e DE-627 ger DE-627 rakwb eng Ferigo, Andrea verfasserin (orcid)0000-0003-1795-011X aut Optimizing the Sensory Apparatus of Voxel-Based Soft Robots Through Evolution and Babbling 2021 Text txt rdacontent Computermedien c rdamedia Online-Ressource cr rdacarrier © The Author(s), under exclusive licence to Springer Nature Singapore Pte Ltd 2021 Abstract The behavior of biological and artificial agents strongly depends, in general, on the data acquired through sensors while interacting with the environment. The sensory apparatus, namely the location and kind of sensors, has therefore a great impact on an agent’s ability of exhibiting complex behaviors. Considering the case of robots, sensors are usually a design choice that is hard to take, due to the complexity of the robotic structure and a potentially large number of possible combinations. Here, we explore the possibility of using evolutionary algorithms to automatically design (and optimizing their use) the sensors of voxel-based soft robots (VSRs), a kind of robots composed of multiple deformable components. We chose these robots due to their intrinsic modularity, which allows to freely shape the robot body, brain, and sensory apparatus. We consider a set of sensors that allow agents to sense themselves and their environment and we show, experimentally, that the effectiveness of the sensory apparatus depends on the body shape and the actuation capability. Then, we show that evolutionary optimization is able to evolve effective sensory apparatuses, even with constraints on the availability of sensors. We also consider how information from sensors can be exploited more efficiently by introducing the concept of “sensor babbling”, which aims to enhance the robots’ perception and, hence, their performances. Adaptation (dpeaa)DE-He213 Morphological evolution (dpeaa)DE-He213 Embodied cognition (dpeaa)DE-He213 CMA-ES (dpeaa)DE-He213 Medvet, Eric (orcid)0000-0001-5652-2113 aut Iacca, Giovanni (orcid)0000-0001-9723-1830 aut Enthalten in SN Computer Science Singapore : Springer Singapore, 2020 3(2021), 2 vom: 23. Dez. (DE-627)1668832976 (DE-600)2977367-2 2661-8907 nnns volume:3 year:2021 number:2 day:23 month:12 https://dx.doi.org/10.1007/s42979-021-00987-w lizenzpflichtig Volltext GBV_USEFLAG_A SYSFLAG_A GBV_SPRINGER GBV_ILN_11 GBV_ILN_20 GBV_ILN_22 GBV_ILN_23 GBV_ILN_24 GBV_ILN_31 GBV_ILN_32 GBV_ILN_39 GBV_ILN_40 GBV_ILN_60 GBV_ILN_62 GBV_ILN_63 GBV_ILN_65 GBV_ILN_69 GBV_ILN_70 GBV_ILN_73 GBV_ILN_74 GBV_ILN_90 GBV_ILN_95 GBV_ILN_100 GBV_ILN_105 GBV_ILN_110 GBV_ILN_138 GBV_ILN_150 GBV_ILN_151 GBV_ILN_152 GBV_ILN_161 GBV_ILN_170 GBV_ILN_171 GBV_ILN_187 GBV_ILN_213 GBV_ILN_224 GBV_ILN_230 GBV_ILN_250 GBV_ILN_281 GBV_ILN_285 GBV_ILN_293 GBV_ILN_370 GBV_ILN_602 GBV_ILN_636 GBV_ILN_702 GBV_ILN_2001 GBV_ILN_2003 GBV_ILN_2004 GBV_ILN_2005 GBV_ILN_2006 GBV_ILN_2007 GBV_ILN_2008 GBV_ILN_2009 GBV_ILN_2010 GBV_ILN_2011 GBV_ILN_2014 GBV_ILN_2015 GBV_ILN_2020 GBV_ILN_2021 GBV_ILN_2025 GBV_ILN_2026 GBV_ILN_2027 GBV_ILN_2031 GBV_ILN_2034 GBV_ILN_2037 GBV_ILN_2038 GBV_ILN_2039 GBV_ILN_2044 GBV_ILN_2048 GBV_ILN_2049 GBV_ILN_2050 GBV_ILN_2055 GBV_ILN_2056 GBV_ILN_2057 GBV_ILN_2059 GBV_ILN_2061 GBV_ILN_2064 GBV_ILN_2065 GBV_ILN_2068 GBV_ILN_2088 GBV_ILN_2093 GBV_ILN_2106 GBV_ILN_2107 GBV_ILN_2108 GBV_ILN_2110 GBV_ILN_2111 GBV_ILN_2112 GBV_ILN_2113 GBV_ILN_2118 GBV_ILN_2122 GBV_ILN_2129 GBV_ILN_2143 GBV_ILN_2144 GBV_ILN_2147 GBV_ILN_2148 GBV_ILN_2152 GBV_ILN_2153 GBV_ILN_2190 GBV_ILN_2232 GBV_ILN_2336 GBV_ILN_2446 GBV_ILN_2470 GBV_ILN_2472 GBV_ILN_2507 GBV_ILN_2522 GBV_ILN_4035 GBV_ILN_4037 GBV_ILN_4046 GBV_ILN_4112 GBV_ILN_4125 GBV_ILN_4126 GBV_ILN_4242 GBV_ILN_4246 GBV_ILN_4249 GBV_ILN_4251 GBV_ILN_4305 GBV_ILN_4306 GBV_ILN_4307 GBV_ILN_4313 GBV_ILN_4322 GBV_ILN_4323 GBV_ILN_4324 GBV_ILN_4325 GBV_ILN_4326 GBV_ILN_4328 GBV_ILN_4333 GBV_ILN_4334 GBV_ILN_4335 GBV_ILN_4336 GBV_ILN_4338 GBV_ILN_4393 GBV_ILN_4700 AR 3 2021 2 23 12
allfields_unstemmed	10.1007/s42979-021-00987-w doi (DE-627)SPR045839239 (SPR)s42979-021-00987-w-e DE-627 ger DE-627 rakwb eng Ferigo, Andrea verfasserin (orcid)0000-0003-1795-011X aut Optimizing the Sensory Apparatus of Voxel-Based Soft Robots Through Evolution and Babbling 2021 Text txt rdacontent Computermedien c rdamedia Online-Ressource cr rdacarrier © The Author(s), under exclusive licence to Springer Nature Singapore Pte Ltd 2021 Abstract The behavior of biological and artificial agents strongly depends, in general, on the data acquired through sensors while interacting with the environment. The sensory apparatus, namely the location and kind of sensors, has therefore a great impact on an agent’s ability of exhibiting complex behaviors. Considering the case of robots, sensors are usually a design choice that is hard to take, due to the complexity of the robotic structure and a potentially large number of possible combinations. Here, we explore the possibility of using evolutionary algorithms to automatically design (and optimizing their use) the sensors of voxel-based soft robots (VSRs), a kind of robots composed of multiple deformable components. We chose these robots due to their intrinsic modularity, which allows to freely shape the robot body, brain, and sensory apparatus. We consider a set of sensors that allow agents to sense themselves and their environment and we show, experimentally, that the effectiveness of the sensory apparatus depends on the body shape and the actuation capability. Then, we show that evolutionary optimization is able to evolve effective sensory apparatuses, even with constraints on the availability of sensors. We also consider how information from sensors can be exploited more efficiently by introducing the concept of “sensor babbling”, which aims to enhance the robots’ perception and, hence, their performances. Adaptation (dpeaa)DE-He213 Morphological evolution (dpeaa)DE-He213 Embodied cognition (dpeaa)DE-He213 CMA-ES (dpeaa)DE-He213 Medvet, Eric (orcid)0000-0001-5652-2113 aut Iacca, Giovanni (orcid)0000-0001-9723-1830 aut Enthalten in SN Computer Science Singapore : Springer Singapore, 2020 3(2021), 2 vom: 23. Dez. (DE-627)1668832976 (DE-600)2977367-2 2661-8907 nnns volume:3 year:2021 number:2 day:23 month:12 https://dx.doi.org/10.1007/s42979-021-00987-w lizenzpflichtig Volltext GBV_USEFLAG_A SYSFLAG_A GBV_SPRINGER GBV_ILN_11 GBV_ILN_20 GBV_ILN_22 GBV_ILN_23 GBV_ILN_24 GBV_ILN_31 GBV_ILN_32 GBV_ILN_39 GBV_ILN_40 GBV_ILN_60 GBV_ILN_62 GBV_ILN_63 GBV_ILN_65 GBV_ILN_69 GBV_ILN_70 GBV_ILN_73 GBV_ILN_74 GBV_ILN_90 GBV_ILN_95 GBV_ILN_100 GBV_ILN_105 GBV_ILN_110 GBV_ILN_138 GBV_ILN_150 GBV_ILN_151 GBV_ILN_152 GBV_ILN_161 GBV_ILN_170 GBV_ILN_171 GBV_ILN_187 GBV_ILN_213 GBV_ILN_224 GBV_ILN_230 GBV_ILN_250 GBV_ILN_281 GBV_ILN_285 GBV_ILN_293 GBV_ILN_370 GBV_ILN_602 GBV_ILN_636 GBV_ILN_702 GBV_ILN_2001 GBV_ILN_2003 GBV_ILN_2004 GBV_ILN_2005 GBV_ILN_2006 GBV_ILN_2007 GBV_ILN_2008 GBV_ILN_2009 GBV_ILN_2010 GBV_ILN_2011 GBV_ILN_2014 GBV_ILN_2015 GBV_ILN_2020 GBV_ILN_2021 GBV_ILN_2025 GBV_ILN_2026 GBV_ILN_2027 GBV_ILN_2031 GBV_ILN_2034 GBV_ILN_2037 GBV_ILN_2038 GBV_ILN_2039 GBV_ILN_2044 GBV_ILN_2048 GBV_ILN_2049 GBV_ILN_2050 GBV_ILN_2055 GBV_ILN_2056 GBV_ILN_2057 GBV_ILN_2059 GBV_ILN_2061 GBV_ILN_2064 GBV_ILN_2065 GBV_ILN_2068 GBV_ILN_2088 GBV_ILN_2093 GBV_ILN_2106 GBV_ILN_2107 GBV_ILN_2108 GBV_ILN_2110 GBV_ILN_2111 GBV_ILN_2112 GBV_ILN_2113 GBV_ILN_2118 GBV_ILN_2122 GBV_ILN_2129 GBV_ILN_2143 GBV_ILN_2144 GBV_ILN_2147 GBV_ILN_2148 GBV_ILN_2152 GBV_ILN_2153 GBV_ILN_2190 GBV_ILN_2232 GBV_ILN_2336 GBV_ILN_2446 GBV_ILN_2470 GBV_ILN_2472 GBV_ILN_2507 GBV_ILN_2522 GBV_ILN_4035 GBV_ILN_4037 GBV_ILN_4046 GBV_ILN_4112 GBV_ILN_4125 GBV_ILN_4126 GBV_ILN_4242 GBV_ILN_4246 GBV_ILN_4249 GBV_ILN_4251 GBV_ILN_4305 GBV_ILN_4306 GBV_ILN_4307 GBV_ILN_4313 GBV_ILN_4322 GBV_ILN_4323 GBV_ILN_4324 GBV_ILN_4325 GBV_ILN_4326 GBV_ILN_4328 GBV_ILN_4333 GBV_ILN_4334 GBV_ILN_4335 GBV_ILN_4336 GBV_ILN_4338 GBV_ILN_4393 GBV_ILN_4700 AR 3 2021 2 23 12
allfieldsGer	10.1007/s42979-021-00987-w doi (DE-627)SPR045839239 (SPR)s42979-021-00987-w-e DE-627 ger DE-627 rakwb eng Ferigo, Andrea verfasserin (orcid)0000-0003-1795-011X aut Optimizing the Sensory Apparatus of Voxel-Based Soft Robots Through Evolution and Babbling 2021 Text txt rdacontent Computermedien c rdamedia Online-Ressource cr rdacarrier © The Author(s), under exclusive licence to Springer Nature Singapore Pte Ltd 2021 Abstract The behavior of biological and artificial agents strongly depends, in general, on the data acquired through sensors while interacting with the environment. The sensory apparatus, namely the location and kind of sensors, has therefore a great impact on an agent’s ability of exhibiting complex behaviors. Considering the case of robots, sensors are usually a design choice that is hard to take, due to the complexity of the robotic structure and a potentially large number of possible combinations. Here, we explore the possibility of using evolutionary algorithms to automatically design (and optimizing their use) the sensors of voxel-based soft robots (VSRs), a kind of robots composed of multiple deformable components. We chose these robots due to their intrinsic modularity, which allows to freely shape the robot body, brain, and sensory apparatus. We consider a set of sensors that allow agents to sense themselves and their environment and we show, experimentally, that the effectiveness of the sensory apparatus depends on the body shape and the actuation capability. Then, we show that evolutionary optimization is able to evolve effective sensory apparatuses, even with constraints on the availability of sensors. We also consider how information from sensors can be exploited more efficiently by introducing the concept of “sensor babbling”, which aims to enhance the robots’ perception and, hence, their performances. Adaptation (dpeaa)DE-He213 Morphological evolution (dpeaa)DE-He213 Embodied cognition (dpeaa)DE-He213 CMA-ES (dpeaa)DE-He213 Medvet, Eric (orcid)0000-0001-5652-2113 aut Iacca, Giovanni (orcid)0000-0001-9723-1830 aut Enthalten in SN Computer Science Singapore : Springer Singapore, 2020 3(2021), 2 vom: 23. Dez. (DE-627)1668832976 (DE-600)2977367-2 2661-8907 nnns volume:3 year:2021 number:2 day:23 month:12 https://dx.doi.org/10.1007/s42979-021-00987-w lizenzpflichtig Volltext GBV_USEFLAG_A SYSFLAG_A GBV_SPRINGER GBV_ILN_11 GBV_ILN_20 GBV_ILN_22 GBV_ILN_23 GBV_ILN_24 GBV_ILN_31 GBV_ILN_32 GBV_ILN_39 GBV_ILN_40 GBV_ILN_60 GBV_ILN_62 GBV_ILN_63 GBV_ILN_65 GBV_ILN_69 GBV_ILN_70 GBV_ILN_73 GBV_ILN_74 GBV_ILN_90 GBV_ILN_95 GBV_ILN_100 GBV_ILN_105 GBV_ILN_110 GBV_ILN_138 GBV_ILN_150 GBV_ILN_151 GBV_ILN_152 GBV_ILN_161 GBV_ILN_170 GBV_ILN_171 GBV_ILN_187 GBV_ILN_213 GBV_ILN_224 GBV_ILN_230 GBV_ILN_250 GBV_ILN_281 GBV_ILN_285 GBV_ILN_293 GBV_ILN_370 GBV_ILN_602 GBV_ILN_636 GBV_ILN_702 GBV_ILN_2001 GBV_ILN_2003 GBV_ILN_2004 GBV_ILN_2005 GBV_ILN_2006 GBV_ILN_2007 GBV_ILN_2008 GBV_ILN_2009 GBV_ILN_2010 GBV_ILN_2011 GBV_ILN_2014 GBV_ILN_2015 GBV_ILN_2020 GBV_ILN_2021 GBV_ILN_2025 GBV_ILN_2026 GBV_ILN_2027 GBV_ILN_2031 GBV_ILN_2034 GBV_ILN_2037 GBV_ILN_2038 GBV_ILN_2039 GBV_ILN_2044 GBV_ILN_2048 GBV_ILN_2049 GBV_ILN_2050 GBV_ILN_2055 GBV_ILN_2056 GBV_ILN_2057 GBV_ILN_2059 GBV_ILN_2061 GBV_ILN_2064 GBV_ILN_2065 GBV_ILN_2068 GBV_ILN_2088 GBV_ILN_2093 GBV_ILN_2106 GBV_ILN_2107 GBV_ILN_2108 GBV_ILN_2110 GBV_ILN_2111 GBV_ILN_2112 GBV_ILN_2113 GBV_ILN_2118 GBV_ILN_2122 GBV_ILN_2129 GBV_ILN_2143 GBV_ILN_2144 GBV_ILN_2147 GBV_ILN_2148 GBV_ILN_2152 GBV_ILN_2153 GBV_ILN_2190 GBV_ILN_2232 GBV_ILN_2336 GBV_ILN_2446 GBV_ILN_2470 GBV_ILN_2472 GBV_ILN_2507 GBV_ILN_2522 GBV_ILN_4035 GBV_ILN_4037 GBV_ILN_4046 GBV_ILN_4112 GBV_ILN_4125 GBV_ILN_4126 GBV_ILN_4242 GBV_ILN_4246 GBV_ILN_4249 GBV_ILN_4251 GBV_ILN_4305 GBV_ILN_4306 GBV_ILN_4307 GBV_ILN_4313 GBV_ILN_4322 GBV_ILN_4323 GBV_ILN_4324 GBV_ILN_4325 GBV_ILN_4326 GBV_ILN_4328 GBV_ILN_4333 GBV_ILN_4334 GBV_ILN_4335 GBV_ILN_4336 GBV_ILN_4338 GBV_ILN_4393 GBV_ILN_4700 AR 3 2021 2 23 12
allfieldsSound	10.1007/s42979-021-00987-w doi (DE-627)SPR045839239 (SPR)s42979-021-00987-w-e DE-627 ger DE-627 rakwb eng Ferigo, Andrea verfasserin (orcid)0000-0003-1795-011X aut Optimizing the Sensory Apparatus of Voxel-Based Soft Robots Through Evolution and Babbling 2021 Text txt rdacontent Computermedien c rdamedia Online-Ressource cr rdacarrier © The Author(s), under exclusive licence to Springer Nature Singapore Pte Ltd 2021 Abstract The behavior of biological and artificial agents strongly depends, in general, on the data acquired through sensors while interacting with the environment. The sensory apparatus, namely the location and kind of sensors, has therefore a great impact on an agent’s ability of exhibiting complex behaviors. Considering the case of robots, sensors are usually a design choice that is hard to take, due to the complexity of the robotic structure and a potentially large number of possible combinations. Here, we explore the possibility of using evolutionary algorithms to automatically design (and optimizing their use) the sensors of voxel-based soft robots (VSRs), a kind of robots composed of multiple deformable components. We chose these robots due to their intrinsic modularity, which allows to freely shape the robot body, brain, and sensory apparatus. We consider a set of sensors that allow agents to sense themselves and their environment and we show, experimentally, that the effectiveness of the sensory apparatus depends on the body shape and the actuation capability. Then, we show that evolutionary optimization is able to evolve effective sensory apparatuses, even with constraints on the availability of sensors. We also consider how information from sensors can be exploited more efficiently by introducing the concept of “sensor babbling”, which aims to enhance the robots’ perception and, hence, their performances. Adaptation (dpeaa)DE-He213 Morphological evolution (dpeaa)DE-He213 Embodied cognition (dpeaa)DE-He213 CMA-ES (dpeaa)DE-He213 Medvet, Eric (orcid)0000-0001-5652-2113 aut Iacca, Giovanni (orcid)0000-0001-9723-1830 aut Enthalten in SN Computer Science Singapore : Springer Singapore, 2020 3(2021), 2 vom: 23. Dez. (DE-627)1668832976 (DE-600)2977367-2 2661-8907 nnns volume:3 year:2021 number:2 day:23 month:12 https://dx.doi.org/10.1007/s42979-021-00987-w lizenzpflichtig Volltext GBV_USEFLAG_A SYSFLAG_A GBV_SPRINGER GBV_ILN_11 GBV_ILN_20 GBV_ILN_22 GBV_ILN_23 GBV_ILN_24 GBV_ILN_31 GBV_ILN_32 GBV_ILN_39 GBV_ILN_40 GBV_ILN_60 GBV_ILN_62 GBV_ILN_63 GBV_ILN_65 GBV_ILN_69 GBV_ILN_70 GBV_ILN_73 GBV_ILN_74 GBV_ILN_90 GBV_ILN_95 GBV_ILN_100 GBV_ILN_105 GBV_ILN_110 GBV_ILN_138 GBV_ILN_150 GBV_ILN_151 GBV_ILN_152 GBV_ILN_161 GBV_ILN_170 GBV_ILN_171 GBV_ILN_187 GBV_ILN_213 GBV_ILN_224 GBV_ILN_230 GBV_ILN_250 GBV_ILN_281 GBV_ILN_285 GBV_ILN_293 GBV_ILN_370 GBV_ILN_602 GBV_ILN_636 GBV_ILN_702 GBV_ILN_2001 GBV_ILN_2003 GBV_ILN_2004 GBV_ILN_2005 GBV_ILN_2006 GBV_ILN_2007 GBV_ILN_2008 GBV_ILN_2009 GBV_ILN_2010 GBV_ILN_2011 GBV_ILN_2014 GBV_ILN_2015 GBV_ILN_2020 GBV_ILN_2021 GBV_ILN_2025 GBV_ILN_2026 GBV_ILN_2027 GBV_ILN_2031 GBV_ILN_2034 GBV_ILN_2037 GBV_ILN_2038 GBV_ILN_2039 GBV_ILN_2044 GBV_ILN_2048 GBV_ILN_2049 GBV_ILN_2050 GBV_ILN_2055 GBV_ILN_2056 GBV_ILN_2057 GBV_ILN_2059 GBV_ILN_2061 GBV_ILN_2064 GBV_ILN_2065 GBV_ILN_2068 GBV_ILN_2088 GBV_ILN_2093 GBV_ILN_2106 GBV_ILN_2107 GBV_ILN_2108 GBV_ILN_2110 GBV_ILN_2111 GBV_ILN_2112 GBV_ILN_2113 GBV_ILN_2118 GBV_ILN_2122 GBV_ILN_2129 GBV_ILN_2143 GBV_ILN_2144 GBV_ILN_2147 GBV_ILN_2148 GBV_ILN_2152 GBV_ILN_2153 GBV_ILN_2190 GBV_ILN_2232 GBV_ILN_2336 GBV_ILN_2446 GBV_ILN_2470 GBV_ILN_2472 GBV_ILN_2507 GBV_ILN_2522 GBV_ILN_4035 GBV_ILN_4037 GBV_ILN_4046 GBV_ILN_4112 GBV_ILN_4125 GBV_ILN_4126 GBV_ILN_4242 GBV_ILN_4246 GBV_ILN_4249 GBV_ILN_4251 GBV_ILN_4305 GBV_ILN_4306 GBV_ILN_4307 GBV_ILN_4313 GBV_ILN_4322 GBV_ILN_4323 GBV_ILN_4324 GBV_ILN_4325 GBV_ILN_4326 GBV_ILN_4328 GBV_ILN_4333 GBV_ILN_4334 GBV_ILN_4335 GBV_ILN_4336 GBV_ILN_4338 GBV_ILN_4393 GBV_ILN_4700 AR 3 2021 2 23 12
language	English
source	Enthalten in SN Computer Science 3(2021), 2 vom: 23. Dez. volume:3 year:2021 number:2 day:23 month:12
sourceStr	Enthalten in SN Computer Science 3(2021), 2 vom: 23. Dez. volume:3 year:2021 number:2 day:23 month:12
format_phy_str_mv	Article
institution	findex.gbv.de
topic_facet	Adaptation Morphological evolution Embodied cognition CMA-ES
isfreeaccess_bool	false
container_title	SN Computer Science
authorswithroles_txt_mv	Ferigo, Andrea @@aut@@ Medvet, Eric @@aut@@ Iacca, Giovanni @@aut@@
publishDateDaySort_date	2021-12-23T00:00:00Z
hierarchy_top_id	1668832976
id	SPR045839239
language_de	englisch
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author	Ferigo, Andrea
spellingShingle	Ferigo, Andrea misc Adaptation misc Morphological evolution misc Embodied cognition misc CMA-ES Optimizing the Sensory Apparatus of Voxel-Based Soft Robots Through Evolution and Babbling
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topic_title	Optimizing the Sensory Apparatus of Voxel-Based Soft Robots Through Evolution and Babbling Adaptation (dpeaa)DE-He213 Morphological evolution (dpeaa)DE-He213 Embodied cognition (dpeaa)DE-He213 CMA-ES (dpeaa)DE-He213
topic	misc Adaptation misc Morphological evolution misc Embodied cognition misc CMA-ES
topic_unstemmed	misc Adaptation misc Morphological evolution misc Embodied cognition misc CMA-ES
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title	Optimizing the Sensory Apparatus of Voxel-Based Soft Robots Through Evolution and Babbling
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title_full	Optimizing the Sensory Apparatus of Voxel-Based Soft Robots Through Evolution and Babbling
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author_browse	Ferigo, Andrea Medvet, Eric Iacca, Giovanni
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title_sort	optimizing the sensory apparatus of voxel-based soft robots through evolution and babbling
title_auth	Optimizing the Sensory Apparatus of Voxel-Based Soft Robots Through Evolution and Babbling
abstract	Abstract The behavior of biological and artificial agents strongly depends, in general, on the data acquired through sensors while interacting with the environment. The sensory apparatus, namely the location and kind of sensors, has therefore a great impact on an agent’s ability of exhibiting complex behaviors. Considering the case of robots, sensors are usually a design choice that is hard to take, due to the complexity of the robotic structure and a potentially large number of possible combinations. Here, we explore the possibility of using evolutionary algorithms to automatically design (and optimizing their use) the sensors of voxel-based soft robots (VSRs), a kind of robots composed of multiple deformable components. We chose these robots due to their intrinsic modularity, which allows to freely shape the robot body, brain, and sensory apparatus. We consider a set of sensors that allow agents to sense themselves and their environment and we show, experimentally, that the effectiveness of the sensory apparatus depends on the body shape and the actuation capability. Then, we show that evolutionary optimization is able to evolve effective sensory apparatuses, even with constraints on the availability of sensors. We also consider how information from sensors can be exploited more efficiently by introducing the concept of “sensor babbling”, which aims to enhance the robots’ perception and, hence, their performances. © The Author(s), under exclusive licence to Springer Nature Singapore Pte Ltd 2021
abstractGer	Abstract The behavior of biological and artificial agents strongly depends, in general, on the data acquired through sensors while interacting with the environment. The sensory apparatus, namely the location and kind of sensors, has therefore a great impact on an agent’s ability of exhibiting complex behaviors. Considering the case of robots, sensors are usually a design choice that is hard to take, due to the complexity of the robotic structure and a potentially large number of possible combinations. Here, we explore the possibility of using evolutionary algorithms to automatically design (and optimizing their use) the sensors of voxel-based soft robots (VSRs), a kind of robots composed of multiple deformable components. We chose these robots due to their intrinsic modularity, which allows to freely shape the robot body, brain, and sensory apparatus. We consider a set of sensors that allow agents to sense themselves and their environment and we show, experimentally, that the effectiveness of the sensory apparatus depends on the body shape and the actuation capability. Then, we show that evolutionary optimization is able to evolve effective sensory apparatuses, even with constraints on the availability of sensors. We also consider how information from sensors can be exploited more efficiently by introducing the concept of “sensor babbling”, which aims to enhance the robots’ perception and, hence, their performances. © The Author(s), under exclusive licence to Springer Nature Singapore Pte Ltd 2021
abstract_unstemmed	Abstract The behavior of biological and artificial agents strongly depends, in general, on the data acquired through sensors while interacting with the environment. The sensory apparatus, namely the location and kind of sensors, has therefore a great impact on an agent’s ability of exhibiting complex behaviors. Considering the case of robots, sensors are usually a design choice that is hard to take, due to the complexity of the robotic structure and a potentially large number of possible combinations. Here, we explore the possibility of using evolutionary algorithms to automatically design (and optimizing their use) the sensors of voxel-based soft robots (VSRs), a kind of robots composed of multiple deformable components. We chose these robots due to their intrinsic modularity, which allows to freely shape the robot body, brain, and sensory apparatus. We consider a set of sensors that allow agents to sense themselves and their environment and we show, experimentally, that the effectiveness of the sensory apparatus depends on the body shape and the actuation capability. Then, we show that evolutionary optimization is able to evolve effective sensory apparatuses, even with constraints on the availability of sensors. We also consider how information from sensors can be exploited more efficiently by introducing the concept of “sensor babbling”, which aims to enhance the robots’ perception and, hence, their performances. © The Author(s), under exclusive licence to Springer Nature Singapore Pte Ltd 2021
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title_short	Optimizing the Sensory Apparatus of Voxel-Based Soft Robots Through Evolution and Babbling
url	https://dx.doi.org/10.1007/s42979-021-00987-w
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author2	Medvet, Eric Iacca, Giovanni
author2Str	Medvet, Eric Iacca, Giovanni
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doi_str	10.1007/s42979-021-00987-w
up_date	2024-07-03T18:37:27.687Z
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