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Where is the robot?
da Silva Miras de Araujo, K.
2020
document version
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citation for published version (APA)
da Silva Miras de Araujo, K. (2020). Where is the robot? Life as it could be.
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Contents
Acknowledgements . . . 1
Summary 4 1 Introduction 5 1.1 Motivation and Contributions . . . 6
1.2 Scope . . . 11
1.3 Extra Publications . . . 16
1.4 Methodology . . . 17
2 Morphological Descriptors 21 2.1 Introduction . . . 22
2.2 Morphology Space and Morphological Descriptors . . . 23
2.3 Exploring the Space of Morphologies . . . 29
2.4 Results and Discussion . . . 34
2.5 Conclusion . . . 41
3 Search Space: Biases and Diversity 43 3.1 Introduction . . . 44
3.2 Related Work . . . 45
3.3 Design Space . . . 45
3.4 Evolution . . . 48
3.5 Experimental Setup . . . 52
3.6 Results and Discussion . . . 53
3.7 Conclusion . . . 62
4 Search Space: Exploration 65 4.1 Introduction . . . 66
4.2 Related Work . . . 67
4.3 Design Space . . . 68
4.4 Evolution . . . 69
4.5 Methods . . . 73
ii CONTENTS
4.7 Conclusion . . . 79
5 Effects of Learning on Morphology and Behavior 83 5.1 Introduction . . . 84
5.2 Methodology . . . 85
5.3 Results and discussion . . . 93
5.4 Conclusions . . . 97
6 Effects of the Environment on Morphology and Behavior 101 6.1 Introduction . . . 102 6.2 Related Work . . . 104 6.3 Robot Framework . . . 105 6.4 Experimental Setup . . . 112 6.5 Results . . . 114 6.6 Discussion . . . 116 6.7 Conclusion . . . 123
7 Environmental Changes Across Generations 125 7.1 Introduction . . . 126
7.2 Related Work . . . 127
7.3 Robot Framework . . . 128
7.4 Experimental Setup . . . 134
7.5 Results . . . 136
7.6 Conclusions and Future work . . . 143
8 Environmental Changes During Lifetime 145 8.1 Introduction . . . 146
8.2 Related Work . . . 149
8.3 Methods . . . 151
8.4 Experimental setup . . . 161
8.5 Results and Discussion . . . 167
8.6 Conclusion . . . 174
9 Environmental Regulation using Plasticoding 181 9.1 Introduction . . . 182
9.2 Related Work . . . 185
9.3 Methods . . . 186
9.4 Experimental setup . . . 200
9.5 Results and Discussion . . . 206
