{"id":"https://openalex.org/W2014033361","doi":"https://doi.org/10.1145/2463372.2463464","title":"A hox gene inspired generative approach to evolving robot morphology","display_name":"A hox gene inspired generative approach to evolving robot morphology","publication_year":2013,"publication_date":"2013-07-06","ids":{"openalex":"https://openalex.org/W2014033361","doi":"https://doi.org/10.1145/2463372.2463464","mag":"2014033361"},"language":"en","primary_location":{"id":"doi:10.1145/2463372.2463464","is_oa":false,"landing_page_url":"https://doi.org/10.1145/2463372.2463464","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"Proceedings of the 15th annual conference on Genetic and evolutionary computation","raw_type":"proceedings-article"},"type":"conference-paper","indexed_in":["crossref"],"open_access":{"is_oa":false,"oa_status":"closed","oa_url":null,"any_repository_has_fulltext":false},"authorships":[{"author_position":"first","author":{"id":"https://openalex.org/A5027896635","display_name":"Eivind Samuelsen","orcid":null},"institutions":[{"id":"https://openalex.org/I184942183","display_name":"University of Oslo","ror":"https://ror.org/01xtthb56","country_code":"NO","type":"education","lineage":["https://openalex.org/I184942183"]}],"countries":["NO"],"is_corresponding":false,"raw_author_name":"Eivind Samuelsen","raw_affiliation_strings":["University of Oslo, Oslo, Norway"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"University of Oslo, Oslo, Norway","institution_ids":["https://openalex.org/I184942183"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5051938848","display_name":"Kyrre Glette","orcid":"https://orcid.org/0000-0003-3550-3225"},"institutions":[{"id":"https://openalex.org/I184942183","display_name":"University of Oslo","ror":"https://ror.org/01xtthb56","country_code":"NO","type":"education","lineage":["https://openalex.org/I184942183"]}],"countries":["NO"],"is_corresponding":false,"raw_author_name":"Kyrre Glette","raw_affiliation_strings":["University of Oslo, Oslo, Norway"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"University of Oslo, Oslo, Norway","institution_ids":["https://openalex.org/I184942183"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5071144214","display_name":"Jim T\u00f8rresen","orcid":"https://orcid.org/0000-0003-0556-0288"},"institutions":[{"id":"https://openalex.org/I184942183","display_name":"University of Oslo","ror":"https://ror.org/01xtthb56","country_code":"NO","type":"education","lineage":["https://openalex.org/I184942183"]}],"countries":["NO"],"is_corresponding":false,"raw_author_name":"Jim Torresen","raw_affiliation_strings":["University of Oslo, Oslo, Norway"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"University of Oslo, Oslo, Norway","institution_ids":["https://openalex.org/I184942183"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":1,"corresponding_author_ids":[],"corresponding_institution_ids":["https://openalex.org/I184942183"],"apc_list":null,"apc_paid":null,"fwci":null,"has_fulltext":false,"cited_by_count":12,"citation_normalized_percentile":null,"cited_by_percentile_year":null,"biblio":{"volume":null,"issue":null,"first_page":"751","last_page":"758"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T11975","display_name":"Evolutionary Algorithms and Applications","score":0.9959999918937683,"subfield":{"id":"https://openalex.org/subfields/1702","display_name":"Artificial Intelligence"},"field":{"id":"https://openalex.org/fields/17","display_name":"Computer Science"},"domain":{"id":"https://openalex.org/domains/3","display_name":"Physical Sciences"}},"topics":[{"id":"https://openalex.org/T11975","display_name":"Evolutionary Algorithms and Applications","score":0.9959999918937683,"subfield":{"id":"https://openalex.org/subfields/1702","display_name":"Artificial Intelligence"},"field":{"id":"https://openalex.org/fields/17","display_name":"Computer Science"},"domain":{"id":"https://openalex.org/domains/3","display_name":"Physical Sciences"}},{"id":"https://openalex.org/T10462","display_name":"Reinforcement Learning in Robotics","score":0.995199978351593,"subfield":{"id":"https://openalex.org/subfields/1702","display_name":"Artificial Intelligence"},"field":{"id":"https://openalex.org/fields/17","display_name":"Computer Science"},"domain":{"id":"https://openalex.org/domains/3","display_name":"Physical Sciences"}},{"id":"https://openalex.org/T10653","display_name":"Robot Manipulation and Learning","score":0.9941999912261963,"subfield":{"id":"https://openalex.org/subfields/2207","display_name":"Control and Systems Engineering"},"field":{"id":"https://openalex.org/fields/22","display_name":"Engineering"},"domain":{"id":"https://openalex.org/domains/3","display_name":"Physical Sciences"}}],"keywords":[{"id":"https://openalex.org/keywords/encoding","display_name":"Encoding (memory)","score":0.7312616109848022},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.6716722846031189},{"id":"https://openalex.org/keywords/modular-design","display_name":"Modular design","score":0.6144436597824097},{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.5982331037521362},{"id":"https://openalex.org/keywords/representation","display_name":"Representation (politics)","score":0.5749157667160034},{"id":"https://openalex.org/keywords/set","display_name":"Set (abstract data type)","score":0.5069766044616699},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.47530683875083923},{"id":"https://openalex.org/keywords/central-pattern-generator","display_name":"Central pattern generator","score":0.45955145359039307},{"id":"https://openalex.org/keywords/evolutionary-robotics","display_name":"Evolutionary robotics","score":0.4544338583946228},{"id":"https://openalex.org/keywords/servomotor","display_name":"Servomotor","score":0.44017618894577026},{"id":"https://openalex.org/keywords/evolution-strategy","display_name":"Evolution strategy","score":0.42312976717948914},{"id":"https://openalex.org/keywords/evolutionary-computation","display_name":"Evolutionary computation","score":0.30773985385894775}],"concepts":[{"id":"https://openalex.org/C125411270","wikidata":"https://www.wikidata.org/wiki/Q18653","display_name":"Encoding (memory)","level":2,"score":0.7312616109848022},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.6716722846031189},{"id":"https://openalex.org/C101468663","wikidata":"https://www.wikidata.org/wiki/Q1620158","display_name":"Modular design","level":2,"score":0.6144436597824097},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.5982331037521362},{"id":"https://openalex.org/C2776359362","wikidata":"https://www.wikidata.org/wiki/Q2145286","display_name":"Representation (politics)","level":3,"score":0.5749157667160034},{"id":"https://openalex.org/C177264268","wikidata":"https://www.wikidata.org/wiki/Q1514741","display_name":"Set (abstract data type)","level":2,"score":0.5069766044616699},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.47530683875083923},{"id":"https://openalex.org/C169453685","wikidata":"https://www.wikidata.org/wiki/Q1054066","display_name":"Central pattern generator","level":3,"score":0.45955145359039307},{"id":"https://openalex.org/C199505168","wikidata":"https://www.wikidata.org/wiki/Q3267529","display_name":"Evolutionary robotics","level":3,"score":0.4544338583946228},{"id":"https://openalex.org/C109441226","wikidata":"https://www.wikidata.org/wiki/Q1137255","display_name":"Servomotor","level":2,"score":0.44017618894577026},{"id":"https://openalex.org/C207002847","wikidata":"https://www.wikidata.org/wiki/Q2912857","display_name":"Evolution strategy","level":3,"score":0.42312976717948914},{"id":"https://openalex.org/C105902424","wikidata":"https://www.wikidata.org/wiki/Q1197129","display_name":"Evolutionary computation","level":2,"score":0.30773985385894775},{"id":"https://openalex.org/C94625758","wikidata":"https://www.wikidata.org/wiki/Q7163","display_name":"Politics","level":2,"score":0.0},{"id":"https://openalex.org/C199360897","wikidata":"https://www.wikidata.org/wiki/Q9143","display_name":"Programming language","level":1,"score":0.0},{"id":"https://openalex.org/C111919701","wikidata":"https://www.wikidata.org/wiki/Q9135","display_name":"Operating system","level":1,"score":0.0},{"id":"https://openalex.org/C135343436","wikidata":"https://www.wikidata.org/wiki/Q170406","display_name":"Rhythm","level":2,"score":0.0},{"id":"https://openalex.org/C17744445","wikidata":"https://www.wikidata.org/wiki/Q36442","display_name":"Political science","level":0,"score":0.0},{"id":"https://openalex.org/C107038049","wikidata":"https://www.wikidata.org/wiki/Q35986","display_name":"Aesthetics","level":1,"score":0.0},{"id":"https://openalex.org/C138885662","wikidata":"https://www.wikidata.org/wiki/Q5891","display_name":"Philosophy","level":0,"score":0.0},{"id":"https://openalex.org/C199539241","wikidata":"https://www.wikidata.org/wiki/Q7748","display_name":"Law","level":1,"score":0.0}],"mesh":[],"locations_count":2,"locations":[{"id":"doi:10.1145/2463372.2463464","is_oa":false,"landing_page_url":"https://doi.org/10.1145/2463372.2463464","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"Proceedings of the 15th annual conference on Genetic and evolutionary computation","raw_type":"proceedings-article"},{"id":"pmh:oai:CiteSeerX.psu:10.1.1.645.3704","is_oa":false,"landing_page_url":"http://citeseerx.ist.psu.edu/viewdoc/summary?doi=10.1.1.645.3704","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"submittedVersion","is_accepted":false,"is_published":false,"raw_source_name":"http://folk.uio.no/kyrrehg/pubs/Sam13a.pdf","raw_type":"text"}],"best_oa_location":null,"sustainable_development_goals":[],"awards":[],"funders":[],"has_content":{"pdf":false,"grobid_xml":false},"content_urls":null,"referenced_works_count":22,"referenced_works":["https://openalex.org/W29426489","https://openalex.org/W1481659984","https://openalex.org/W1609223620","https://openalex.org/W1962014236","https://openalex.org/W2004203817","https://openalex.org/W2019580310","https://openalex.org/W2029517350","https://openalex.org/W2033226680","https://openalex.org/W2053577848","https://openalex.org/W2073563069","https://openalex.org/W2080907669","https://openalex.org/W2094349239","https://openalex.org/W2111935653","https://openalex.org/W2112002204","https://openalex.org/W2113104542","https://openalex.org/W2117085697","https://openalex.org/W2118387400","https://openalex.org/W2120135308","https://openalex.org/W2126105956","https://openalex.org/W2141434226","https://openalex.org/W2169803171","https://openalex.org/W4246082488"],"related_works":["https://openalex.org/W1954640725","https://openalex.org/W2350587487","https://openalex.org/W2917039419","https://openalex.org/W2116954712","https://openalex.org/W1733592898","https://openalex.org/W2102869784","https://openalex.org/W2086263357","https://openalex.org/W4879471","https://openalex.org/W2528958959","https://openalex.org/W2135030058"],"abstract_inverted_index":{"This":[0],"paper":[1],"proposes":[2],"an":[3],"approach":[4,102],"to":[5,16],"representing":[6],"robot":[7],"morphology":[8,32],"and":[9,86,125],"control,":[10],"using":[11,37,56],"a":[12,38,51,73,80,87,96,100],"two-level":[13],"description":[14],"linked":[15],"two":[17,60],"different":[18],"physical":[19],"axes":[20],"of":[21,71,75,84,95],"development.":[22],"The":[23,63],"bioinspired":[24],"encoding":[25,98],"produces":[26],"robots":[27],"with":[28,33,59,79],"animal-like":[29],"bilateral":[30],"limbed":[31],"co-evolved":[34],"control":[35,90],"parameters":[36,85],"central":[39],"pattern":[40],"generator-based":[41],"modular":[42],"artificial":[43],"neural":[44],"network.":[45],"Experiments":[46],"are":[47],"performed":[48],"on":[49],"optimizing":[50],"simple":[52,89],"simulated":[53],"locomotion":[54],"problem,":[55],"multi-objective":[57],"evolution":[58],"secondary":[61],"objectives.":[62],"results":[64],"show":[65,107],"that":[66,108],"the":[67,93,109,123],"representation":[68,110],"is":[69,103,111],"capable":[70],"producing":[72],"variety":[74],"viable":[76,112],"designs":[77],"even":[78],"relatively":[81],"restricted":[82],"set":[83],"very":[88],"system.":[91],"Furthermore,":[92],"utility":[94],"cumulative":[97],"over":[99],"non-cumulative":[101],"demonstrated.":[104],"We":[105],"also":[106],"for":[113],"real-life":[114],"reproduction":[115],"by":[116],"automatically":[117],"generating":[118],"CAD":[119],"files,":[120],"3D":[121],"printing":[122],"limbs,":[124],"attaching":[126],"off-the-shelf":[127],"servomotors.":[128]},"counts_by_year":[{"year":2020,"cited_by_count":2},{"year":2018,"cited_by_count":5},{"year":2016,"cited_by_count":3},{"year":2015,"cited_by_count":1},{"year":2014,"cited_by_count":1}],"updated_date":"2026-07-14T23:27:15.235271","created_date":"2025-10-10T00:00:00"}