Journal
IEEE TRANSACTIONS ON ROBOTICS
Volume 23, Issue 2, Pages 308-319Publisher
IEEE-INST ELECTRICAL ELECTRONICS ENGINEERS INC
DOI: 10.1109/TRO.2007.894685
Keywords
evolutionary computation; modular robotics; self-repair; self-replication; self-reproduction
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Long-term physical survivability of most robotic systems today is achieved through durable hardware. In contrast, most biological systems are not made of robust materials; long-term sustainability and evolutionary adaptation in nature are provided through processes of self-repair and, ultimately, self-reproduction. Here we demonstrate a large space of possible robots capable of autonomous self-reproduction. These robots are composed of actuated modules equipped with electromagnets to selectively control the morphology of the robotic assembly. We show a variety of 2-D and 3-D machines from 3 to 2n modules, and two physical implementations that each achieves two generations of reproduction. We show both automatically generated and manually designed morphologies.
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