The Golem Project Automatic Design and Manufacture of Robotic Lifeforms Hod Lipson and Jordan B. Pollack

Results

In spite of the relatively simple task and environment (locomotion over an infinite horizontal plane), surprisingly different and elaborate solutions were evolved. Machines typically contained around 20 building blocks, sometimes with significant redundancy (perhaps to make mutation less likely to be catastrophic ). Not less surprising was the fact that some exhibited symmetry, which was neither specified nor rewarded for anywhere in the code; a possible explanation is that symmetric machines are more likely to move in a straight line, consequently covering a greater net distance and acquiring more fitness. Similarly, successful designs appear to be robust in the sense that changes to bar lengths would not significantly hamper their mobility.

Some examples are shown below. Where available, click on the image to see it in motion.

Arrow Video (virtual [900K], physical [1MB]) Model (VRML, LiveTruss) High-resolution images 1 2
Tetra Video (virtual [2.7MB], physical [700K]) Video (virtual [3.1MB], physical [260K]) Model (VRML, LiveTruss) High-resolution images 1 2
Ratchet Video (virtual [1.2MB], physical [1.1MB]) Model (VRML, LiveTruss) High-resolution images 1 2 3
Snake Video (virtual [1.8MB], virtual [3.8MB]) Model (VRML, LiveTruss) Family photograph (Hires)
Biped Video (virtual [2.8MB], virtual [3.4MB]) Model (LiveTruss)
Crab Video (virtual 360K, virtual 520K) Model (VRML, LiveTruss)
Complex1 Video (virtual 6.4MB) Model (LiveTruss)
Complex2 Video (virtual 6MB) Model (LiveTruss)
Tee Model (LiveTruss)
Balance Video (virtual 730K) Model (VRML, LiveTruss)
Simple Video (virtual 2.3MB) Model (VRML, LiveTruss) High-resolution images 1

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