Artificial Evolution & Biomimetics Flashcards
What are the 4 pillars of evolution?
- Population - group of several individuals
- Diversity - Individuals have different characteristics
- Heredity - Characteristics are transmitted over generations
- Selection - Individuals make more offspring than the environment can support. Better at food gathering = better at surviving = make more offspring.
What is the genotype?
The genetic material of that organism. It is transmitted during reproduction; it is affected by mutations; selection does not act directly on it.
What is the phenotype?
The manifestation of the organism (appearance, behaviour etc.). Selection acts on the phenotype; it is affected by environment, development and learning.
What are mitosis and meiosis?
Mitosis is division into identical daughter cells.
Meiosis is division into haploid sex cells.
Name some types of mutation
Inversion, substitution, insertion, deletion, reciprocal recombination and nonreciprocal recombination.
Name some different types of selection used
Proportional selection, Rank-based selection, Truncated rank-based selection, Tournament Selection, Replacement Selection
What does crossover emulate?
Crossover emulates the recombination of genetic material from two parents in meiosis
Name some differences between control in engineering and nature
Designed system - engineered system
DoF rather small - DoF v large
Fully actuated ,controlled - redundancy, underactuated
model based (rigid body) - often model free
central controller - distributed control
What are CPGs
Central pattern generators are biological neural networks that produce rhythmic patterned outputs without sensory feedback
Why does changing gait make sense in animals?
As different gaits are better for energy/oxygen consumption at different speeds.
What is the approach in behaviour based robotics?
Approach is:
- bottom up
- hierarchical structure
- action oriented, reactive
- adding another layer should not break the system
Detail some of the aspects of the paradigm shift to behaviour based robotics
Thinking and reasoning -> Acting and behaving
Seat of intelligence: brain -> Seat of intelligence: organism
AI -> Artificial life
INformation processing -> sensory-motor coordination
Cartesian thinking -> Agent-centred; action based
The keystone ideas behind Behaviour Based Robotics
Embodiment
Situatedness
No planning
Emergent complexity
Give a famous example of a conceptual behaviour based robot
Braitenberg vehicle
How do we build subsumption architecture
Start from bottom build up
Add next layer
Don’t break lower levels
Hierarchical structure
