PHD-related publications

We apply real world multi-objective evolutionary optimization to optimize both control and morphology of a four-legged mammal-inspired robot, and show that evolution is able to adapt to different hardware limitations.
In GECCO18 (ACM), 2018.

We propose using a high level controller with multi-objective optimization on a physical four legged robot to evolve fast and stable gaits. This achieves a range of robust gaits for the quadruped robot, but does not require the excessive hardware tests associated with traditional multi-objective evolution in hardware.
In SSCI (IEEE), 2016.

All publications

. Real-World Evolution Adapts Robot Morphology and Control to Hardware Limitations. In GECCO18 (ACM), 2018.

Details PDF Video Project

. Exploring Mechanically Self-Reconfiguring Robots for Autonomous Design. In Workshop on Autonomous Robot Design at ICRA18, 2018.

Details PDF Project

. Overcoming Initial Convergence in Multi-objective Evolution of Robot Control and Morphology Using a Two-Phase Approach. In EvoApplications (Springer), 2017.

Details PDF Slides Video Project Springer page

. Multi-objective Evolution of Fast and Stable Gaits on a Physical Quadruped Robotic Platform. In SSCI (IEEE), 2016.

Details PDF Slides Video Project IEEE page

News mentions

Titan.no, 24. apr 2018 An interview about autonomous robots and dynamic morphology (Norwegian)

Framtida.no, 29. jan 2017
An interview about rapid prototyping and evolutionary robotics (Norwegian)

Titan.no, 20. apr 2017
A short talk about the future of robotics (Norwegian)

TU.no, 12. feb 2017 An interview with Minoru Asada and Jim Tørresen about humanoid robots and use of robots in healthcare (Norwegian)

Titan.no, 11. oct 2016
Interview about robots that learn, and the goals of the EPEC project (Norwegian)

Aftenposten.no, 12. nov 2014
Article about adaptive robots and evolving robot morphologies (Norwegian)

Projects

Dyret

The robot I am developing as part of my PHD - a four legged mammal-inspired robot with mechanical self-reconfiguration.

EPEC

“Engineering Predictability with Embodied Cognition” - A University of Oslo project, funded by the Research Council of Norway

Master thesis

Evolutionary optimization of robot morphology and control - Using evolutionary algorithms in the design of a six legged robotic platform

Contact