Practical hardware for evolvable robots.

The evolutionary robotics field offers the possibility of autonomously generating robots that are adapted to desired tasks by iteratively optimising across successive generations of robots with varying configurations until a high-performing candidate is found. The prohibitive time and cost of actually building this many robots means that most evolutionary robotics work is conducted in simulation, but to apply evolved robots to real-world problems, they must be implemented in hardware, which brings new challenges. This paper explores in detail the design of an example system for realising diverse evolved robot bodies, and specifically how this interacts with the evolutionary process. We discover that every aspect of the hardware implementation introduces constraints that change the evolutionary space, and exploring this interplay between hardware constraints and evolution is the key contribution of this paper. In simulation, any robot that can be defined by a suitable genetic representation can be implemented and evaluated, but in hardware, real-world limitations like manufacturing/assembly constraints and electrical power delivery mean that many of these robots cannot be built, or will malfunction in operation. This presents the novel challenge of how to constrain an evolutionary process within the space of evolvable phenotypes to only those regions that are practically feasible: the viable phenotype space. Methods of phenotype filtering and repair were introduced to address this, and found to degrade the diversity of the robot population and impede traversal of the exploration space. Furthermore, the degrees of freedom permitted by the hardware constraints were found to be poorly matched to the types of morphological variation that would be the most useful in the target environment. Consequently, the ability of the evolutionary process to generate robots with effective adaptations was greatly reduced. The conclusions from this are twofold. 1) Designing a hardware platform for evolving robots requires different thinking, in which all design decisions should be made with reference to their impact on the viable phenotype space. 2) It is insufficient to just evolve robots in simulation without detailed consideration of how they will be implemented in hardware, because the hardware constraints have a profound impact on the evolutionary space.

Are the forearm muscles excited equally in different, professional piano players?

BACKGROUND AND OBJECTIVES: Professional pianists tend to develop playing-related musculoskeletal disorders mostly in the forearm. These injuries are often due to overuse, suggesting the existence of a common forearm region where muscles are often excited during piano playing across subjects. Here we use a grid of electrodes to test this hypothesis, assessing where EMGs with greatest amplitude are more likely to be detected when expert pianists perform different excerpts. METHODS: Tasks were separated into two groups: classical excerpts and octaves, performed by eight, healthy, professional pianists. Monopolar electromyograms (EMGs) were sampled with a grid of 96 electrodes, covering the forearm region where hand and wrist muscles reside. Regions providing consistently high EMG amplitude across subjects were assessed with a non-parametric permutation test, designed for the statistical analysis of neuroimaging experiments. Spatial consistency across trials was assessed with the Binomial test. RESULTS: Spatial consistency of muscle excitation was found across subjects but not across tasks, confining at most 20% of the electrodes in the grid. These local groups of electrodes providing high EMG amplitude were found at the ventral forearm region during classical excerpts and at the dorsal region during octaves, when performed both at preferred and at high, playing speeds. DISCUSSION: Our results revealed that professional pianists consistently load a specific forearm region, depending on whether performing octaves or classical excerpts. This spatial consistency may help furthering our understanding on the incidence of playing-related muscular disorders and provide an anatomical reference for the study of active muscle loading in piano players using surface EMG.

Real-World Evolution of Robot Morphologies: A Proof of Concept.

Evolutionary robotics using real hardware has been almost exclusively restricted to evolving robot controllers, but the technology for evolvable morphologies is advancing quickly. We discuss a proof-of-concept study to demonstrate real robots that can reproduce. Following a general system plan, we implement a robotic habitat that contains all system components in the simplest possible form. We create an initial population of two robots and run a complete life cycle, resulting in a new robot, parented by the first two. Even though the individual steps are simplified to the maximum, the whole system validates the underlying concepts and provides a generic workflow for the creation of more complex incarnations. This hands-on experience provides insights and helps us elaborate on interesting research directions for future development.