Size Matters: Variable-Length Bones in Evolvable Modular Robots

This paper studies the effects of extending an evolvable modular robot system by 'bones' of evolvable length.Based on simulations, we investigate whether evolution exploits this possibility, and we compare different ways to attain desired morphological features alongside preferred behavioral traits.To validate the outcomes, we select a robot with a high fitness and interesting morphology and construct its physical twin.Comparing the simulated and real-world behaviors of the twins, we gain insight into the reality gap.