PHD-related publications

We introduce a new gait controller type with a variable complexity, allowing adaptation to evaluation budgets or environmental requirements.
In EvoApplications (Springer), 2019.

We introduce our new robot platform, as well as the results of a study that verifies the performance impact of self-reconfiguration.
In ICRA19, IEEE, 2019.

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

. Evolving Robots on Easy Mode: Towards a Variable Complexity Controller for Quadrupeds. In EvoApplications (Springer), 2019.

Details PDF Project BibTeX

. Self-Modifying Morphology Experiments with DyRET: Dynamic Robot for Embodied Testing. In ICRA19, IEEE, 2019.

Details PDF Video Project BibTeX

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

Details PDF Slides Video Project BibTeX ACM page

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

Details PDF Project BibTeX

. 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 BibTeX 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 BibTeX IEEE page

News mentions, 28. june 2018 Video about bio-mimicry including DyRET and other interesting robots., 25. june 2018
Video showing DyRET and some outdoor experiments. 20. may 2018
Article on DyRET and evolutionary robotics., 23. may 2018
Short interview about the DyRET robot and evolutionary robotics., 18. may 2018
Interview about the DyRET robot and our work at the University., 29. jan 2017
An interview about rapid prototyping and evolutionary robotics (Norwegian), 11. oct 2016
Interview about robots that learn, and the goals of the EPEC project (Norwegian)



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


“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