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UWE Bristol Engineering showcase 2015

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Jonathan Barnett<br />

BEng Robotics<br />

Project Supervisor<br />

Prof. Alan Winfield<br />

Analysing RoboGen for Evolutionary Design<br />

Project summary<br />

The aim of this project is the investigation of<br />

the RoboGen software for the<br />

implementation of evolutionary robotics.<br />

The primary appeal of the RoboGen software is its<br />

ability to co-evolve the robot body and brain<br />

simultaneously, creating a more harmonious<br />

design between the brain and body.<br />

One of the key aspects of the RoboGen<br />

software, is the ability to fully configure the<br />

setup of the robot build. This data can then be<br />

outputted to Matlab or other suitable software<br />

for rendering the information allowing for a<br />

generation by generation recount of the fitness<br />

development.<br />

The robot brain aspect evolves weights and biases<br />

of the robot within the body structure derived<br />

from the need to achieve the goal state, the design<br />

of the robot brain system is described as a “fullyconnected,<br />

recurrent artificial neural<br />

network”(Auerbach et al., 2014). The limitations of<br />

this robot brain are primarily based on the body<br />

structure that it is contained within.<br />

From Concept to Reality<br />

The RoboGen software allows for the 3D<br />

design of a robotic system using modular<br />

parts pre-configured to be wired up. The<br />

system then develops the artificial neural<br />

network within this body in order to solve<br />

the training scenario it has been placed in<br />

Project Objectives<br />

• Investigating the potential of the RoboGen<br />

software for evolutionary neural network<br />

development and co-evolutionary design<br />

of both brain and body, in a variety of<br />

situations examining the results that the<br />

system outputs<br />

• Investigation into the principle idea of real<br />

world testing of fitness, being reintroduced<br />

into the software population,<br />

adjusting its fitness.<br />

Project Conclusion<br />

In conclusion the RoboGen software is a remarkable<br />

application allowing for ease of use and accessible<br />

introduction to the principles behind both<br />

evolutionary neural network design and co-evolution<br />

development between the brain and body of a robot.<br />

The ability to configure a multitude of parameters as<br />

well as different scenarios for testing means that the<br />

software can be used for potentially multiple<br />

problems depending on how complex the user makes<br />

the terrain that the robot must navigate in order to<br />

achieve its goals. The co-evolutionary nature<br />

between both the brain and body of the robot, when<br />

used, opens up a potential gateway towards true<br />

independent design.

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