{"id":"https://openalex.org/W2202255759","doi":"https://doi.org/10.3389/frobt.2015.00033","title":"Improving Evolvability of Morphologies and Controllers of Developmental Soft-Bodied Robots with Novelty Search","display_name":"Improving Evolvability of Morphologies and Controllers of Developmental Soft-Bodied Robots with Novelty Search","publication_year":2015,"publication_date":"2015-12-17","ids":{"openalex":"https://openalex.org/W2202255759","doi":"https://doi.org/10.3389/frobt.2015.00033","mag":"2202255759"},"language":"en","primary_location":{"is_oa":true,"landing_page_url":"https://doi.org/10.3389/frobt.2015.00033","pdf_url":"https://www.frontiersin.org/articles/10.3389/frobt.2015.00033/pdf","source":{"id":"https://openalex.org/S2595095599","display_name":"Frontiers in Robotics and AI","issn_l":"2296-9144","issn":["2296-9144"],"is_oa":true,"is_in_doaj":true,"is_indexed_in_scopus":true,"is_core":true,"host_organization":"https://openalex.org/P4310320527","host_organization_name":"Frontiers Media","host_organization_lineage":["https://openalex.org/P4310320527"],"host_organization_lineage_names":["Frontiers Media"],"type":"journal"},"license":"cc-by","license_id":"https://openalex.org/licenses/cc-by","version":"publishedVersion","is_accepted":true,"is_published":true},"type":"article","type_crossref":"journal-article","indexed_in":["crossref","doaj"],"open_access":{"is_oa":true,"oa_status":"gold","oa_url":"https://www.frontiersin.org/articles/10.3389/frobt.2015.00033/pdf","any_repository_has_fulltext":false},"authorships":[{"author_position":"first","author":{"id":"https://openalex.org/A5078210927","display_name":"Micha\u0142 Joachimczak","orcid":"https://orcid.org/0000-0002-2863-1950"},"institutions":[{"id":"https://openalex.org/I60134161","display_name":"Nagoya University","ror":"https://ror.org/04chrp450","country_code":"JP","type":"funder","lineage":["https://openalex.org/I60134161"]}],"countries":["JP"],"is_corresponding":false,"raw_author_name":"Micha\u0142 Joachimczak","raw_affiliation_strings":["Graduate School of Information Science, Nagoya University, Nagoya, Japan"],"affiliations":[{"raw_affiliation_string":"Graduate School of Information Science, Nagoya University, Nagoya, Japan","institution_ids":["https://openalex.org/I60134161"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5001027770","display_name":"Reiji Suzuki","orcid":"https://orcid.org/0000-0002-1953-2926"},"institutions":[{"id":"https://openalex.org/I60134161","display_name":"Nagoya University","ror":"https://ror.org/04chrp450","country_code":"JP","type":"funder","lineage":["https://openalex.org/I60134161"]}],"countries":["JP"],"is_corresponding":false,"raw_author_name":"Reiji Suzuki","raw_affiliation_strings":["Graduate School of Information Science, Nagoya University, Nagoya, Japan"],"affiliations":[{"raw_affiliation_string":"Graduate School of Information Science, Nagoya University, Nagoya, Japan","institution_ids":["https://openalex.org/I60134161"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5007424153","display_name":"Takaya Arita","orcid":"https://orcid.org/0000-0003-3688-2255"},"institutions":[{"id":"https://openalex.org/I60134161","display_name":"Nagoya University","ror":"https://ror.org/04chrp450","country_code":"JP","type":"funder","lineage":["https://openalex.org/I60134161"]}],"countries":["JP"],"is_corresponding":false,"raw_author_name":"Takaya Arita","raw_affiliation_strings":["Graduate School of Information Science, Nagoya University, Nagoya, Japan"],"affiliations":[{"raw_affiliation_string":"Graduate School of Information Science, Nagoya University, Nagoya, Japan","institution_ids":["https://openalex.org/I60134161"]}]}],"institution_assertions":[],"countries_distinct_count":1,"institutions_distinct_count":1,"corresponding_author_ids":[],"corresponding_institution_ids":[],"apc_list":{"value":1900,"currency":"USD","value_usd":1900},"apc_paid":{"value":1900,"currency":"USD","value_usd":1900},"fwci":0.811,"has_fulltext":true,"fulltext_origin":"pdf","cited_by_count":10,"citation_normalized_percentile":{"value":0.760396,"is_in_top_1_percent":false,"is_in_top_10_percent":false},"cited_by_percentile_year":{"min":85,"max":86},"biblio":{"volume":"2","issue":null,"first_page":null,"last_page":null},"is_retracted":false,"is_paratext":false,"primary_topic":{"id":"https://openalex.org/T12784","display_name":"Modular Robots and Swarm Intelligence","score":0.9991,"subfield":{"id":"https://openalex.org/subfields/2210","display_name":"Mechanical Engineering"},"field":{"id":"https://openalex.org/fields/22","display_name":"Engineering"},"domain":{"id":"https://openalex.org/domains/3","display_name":"Physical Sciences"}},"topics":[{"id":"https://openalex.org/T12784","display_name":"Modular Robots and Swarm Intelligence","score":0.9991,"subfield":{"id":"https://openalex.org/subfields/2210","display_name":"Mechanical Engineering"},"field":{"id":"https://openalex.org/fields/22","display_name":"Engineering"},"domain":{"id":"https://openalex.org/domains/3","display_name":"Physical Sciences"}},{"id":"https://openalex.org/T10462","display_name":"Reinforcement Learning in Robotics","score":0.9989,"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/T11486","display_name":"Micro and Nano Robotics","score":0.9895,"subfield":{"id":"https://openalex.org/subfields/3104","display_name":"Condensed Matter Physics"},"field":{"id":"https://openalex.org/fields/31","display_name":"Physics and Astronomy"},"domain":{"id":"https://openalex.org/domains/3","display_name":"Physical Sciences"}}],"keywords":[{"id":"https://openalex.org/keywords/evolvability","display_name":"Evolvability","score":0.909436},{"id":"https://openalex.org/keywords/multicellular-organism","display_name":"Multicellular organism","score":0.56953514},{"id":"https://openalex.org/keywords/representation","display_name":"Representation","score":0.5223497},{"id":"https://openalex.org/keywords/fitness-landscape","display_name":"Fitness landscape","score":0.48664626},{"id":"https://openalex.org/keywords/evolutionary-robotics","display_name":"Evolutionary robotics","score":0.46998513}],"concepts":[{"id":"https://openalex.org/C176147130","wikidata":"https://www.wikidata.org/wiki/Q909622","display_name":"Evolvability","level":2,"score":0.909436},{"id":"https://openalex.org/C2778738651","wikidata":"https://www.wikidata.org/wiki/Q16546687","display_name":"Novelty","level":2,"score":0.81774324},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.7445045},{"id":"https://openalex.org/C176066374","wikidata":"https://www.wikidata.org/wiki/Q629118","display_name":"Fitness function","level":3,"score":0.6387844},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.5965596},{"id":"https://openalex.org/C74318829","wikidata":"https://www.wikidata.org/wiki/Q36458","display_name":"Multicellular organism","level":3,"score":0.56953514},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.55047333},{"id":"https://openalex.org/C159149176","wikidata":"https://www.wikidata.org/wiki/Q14489129","display_name":"Evolutionary algorithm","level":2,"score":0.5235207},{"id":"https://openalex.org/C2776359362","wikidata":"https://www.wikidata.org/wiki/Q2145286","display_name":"Representation (politics)","level":3,"score":0.5223497},{"id":"https://openalex.org/C91852762","wikidata":"https://www.wikidata.org/wiki/Q3307742","display_name":"Fitness landscape","level":3,"score":0.48664626},{"id":"https://openalex.org/C199505168","wikidata":"https://www.wikidata.org/wiki/Q3267529","display_name":"Evolutionary robotics","level":3,"score":0.46998513},{"id":"https://openalex.org/C105902424","wikidata":"https://www.wikidata.org/wiki/Q1197129","display_name":"Evolutionary computation","level":2,"score":0.4469659},{"id":"https://openalex.org/C14036430","wikidata":"https://www.wikidata.org/wiki/Q3736076","display_name":"Function (biology)","level":2,"score":0.4422775},{"id":"https://openalex.org/C119857082","wikidata":"https://www.wikidata.org/wiki/Q2539","display_name":"Machine learning","level":1,"score":0.3975254},{"id":"https://openalex.org/C80444323","wikidata":"https://www.wikidata.org/wiki/Q2878974","display_name":"Theoretical computer science","level":1,"score":0.33967704},{"id":"https://openalex.org/C8880873","wikidata":"https://www.wikidata.org/wiki/Q187787","display_name":"Genetic algorithm","level":2,"score":0.27700502},{"id":"https://openalex.org/C2908647359","wikidata":"https://www.wikidata.org/wiki/Q2625603","display_name":"Population","level":2,"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/C55493867","wikidata":"https://www.wikidata.org/wiki/Q7094","display_name":"Biochemistry","level":1,"score":0.0},{"id":"https://openalex.org/C149923435","wikidata":"https://www.wikidata.org/wiki/Q37732","display_name":"Demography","level":1,"score":0.0},{"id":"https://openalex.org/C27206212","wikidata":"https://www.wikidata.org/wiki/Q34178","display_name":"Theology","level":1,"score":0.0},{"id":"https://openalex.org/C78458016","wikidata":"https://www.wikidata.org/wiki/Q840400","display_name":"Evolutionary biology","level":1,"score":0.0},{"id":"https://openalex.org/C94625758","wikidata":"https://www.wikidata.org/wiki/Q7163","display_name":"Politics","level":2,"score":0.0},{"id":"https://openalex.org/C144024400","wikidata":"https://www.wikidata.org/wiki/Q21201","display_name":"Sociology","level":0,"score":0.0},{"id":"https://openalex.org/C104317684","wikidata":"https://www.wikidata.org/wiki/Q7187","display_name":"Gene","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/C199539241","wikidata":"https://www.wikidata.org/wiki/Q7748","display_name":"Law","level":1,"score":0.0},{"id":"https://openalex.org/C86803240","wikidata":"https://www.wikidata.org/wiki/Q420","display_name":"Biology","level":0,"score":0.0},{"id":"https://openalex.org/C185592680","wikidata":"https://www.wikidata.org/wiki/Q2329","display_name":"Chemistry","level":0,"score":0.0}],"mesh":[],"locations_count":2,"locations":[{"is_oa":true,"landing_page_url":"https://doi.org/10.3389/frobt.2015.00033","pdf_url":"https://www.frontiersin.org/articles/10.3389/frobt.2015.00033/pdf","source":{"id":"https://openalex.org/S2595095599","display_name":"Frontiers in Robotics and AI","issn_l":"2296-9144","issn":["2296-9144"],"is_oa":true,"is_in_doaj":true,"is_indexed_in_scopus":true,"is_core":true,"host_organization":"https://openalex.org/P4310320527","host_organization_name":"Frontiers Media","host_organization_lineage":["https://openalex.org/P4310320527"],"host_organization_lineage_names":["Frontiers Media"],"type":"journal"},"license":"cc-by","license_id":"https://openalex.org/licenses/cc-by","version":"publishedVersion","is_accepted":true,"is_published":true},{"is_oa":false,"landing_page_url":"https://doaj.org/article/25e724430eb04e4bac95b6203a9afb89","pdf_url":null,"source":{"id":"https://openalex.org/S4306401280","display_name":"DOAJ (DOAJ: Directory of Open Access Journals)","issn_l":null,"issn":null,"is_oa":true,"is_in_doaj":false,"is_indexed_in_scopus":false,"is_core":false,"host_organization":null,"host_organization_name":null,"host_organization_lineage":[],"host_organization_lineage_names":[],"type":"repository"},"license":null,"license_id":null,"version":null,"is_accepted":false,"is_published":false}],"best_oa_location":{"is_oa":true,"landing_page_url":"https://doi.org/10.3389/frobt.2015.00033","pdf_url":"https://www.frontiersin.org/articles/10.3389/frobt.2015.00033/pdf","source":{"id":"https://openalex.org/S2595095599","display_name":"Frontiers in Robotics and AI","issn_l":"2296-9144","issn":["2296-9144"],"is_oa":true,"is_in_doaj":true,"is_indexed_in_scopus":true,"is_core":true,"host_organization":"https://openalex.org/P4310320527","host_organization_name":"Frontiers Media","host_organization_lineage":["https://openalex.org/P4310320527"],"host_organization_lineage_names":["Frontiers Media"],"type":"journal"},"license":"cc-by","license_id":"https://openalex.org/licenses/cc-by","version":"publishedVersion","is_accepted":true,"is_published":true},"sustainable_development_goals":[{"id":"https://metadata.un.org/sdg/14","score":0.4,"display_name":"Life below water"}],"grants":[{"funder":"https://openalex.org/F4320334764","funder_display_name":"Japan Society for the Promotion of Science","award_id":"JSPS KAKENHI Grant Number 26-04349, JSPS Fellowship for Foreign Researchers P14349"}],"datasets":[],"versions":[],"referenced_works_count":54,"referenced_works":["https://openalex.org/W1487939658","https://openalex.org/W1497122413","https://openalex.org/W1524175937","https://openalex.org/W1527672606","https://openalex.org/W1560435054","https://openalex.org/W1566659289","https://openalex.org/W1593151701","https://openalex.org/W1609223620","https://openalex.org/W1784796383","https://openalex.org/W1981204928","https://openalex.org/W1983449914","https://openalex.org/W1985311200","https://openalex.org/W1987003149","https://openalex.org/W1988030247","https://openalex.org/W1991287313","https://openalex.org/W2000085833","https://openalex.org/W2003756067","https://openalex.org/W2005337541","https://openalex.org/W2011807130","https://openalex.org/W2012359374","https://openalex.org/W2012895010","https://openalex.org/W2020399841","https://openalex.org/W2025613329","https://openalex.org/W2063182865","https://openalex.org/W2070283760","https://openalex.org/W2085447706","https://openalex.org/W2086179160","https://openalex.org/W2099746672","https://openalex.org/W2111935653","https://openalex.org/W2117085697","https://openalex.org/W2119814172","https://openalex.org/W2120135308","https://openalex.org/W2120264920","https://openalex.org/W2120652436","https://openalex.org/W2137150948","https://openalex.org/W2140759315","https://openalex.org/W2142619464","https://openalex.org/W2146947104","https://openalex.org/W2151083897","https://openalex.org/W2151203874","https://openalex.org/W2155921792","https://openalex.org/W2157721418","https://openalex.org/W2161187833","https://openalex.org/W2168696093","https://openalex.org/W2170756842","https://openalex.org/W2328764996","https://openalex.org/W2329802244","https://openalex.org/W2477695133","https://openalex.org/W2922220321","https://openalex.org/W2941957383","https://openalex.org/W2943307976","https://openalex.org/W4247402800","https://openalex.org/W4253434324","https://openalex.org/W4285719527"],"related_works":["https://openalex.org/W4381187826","https://openalex.org/W4315779511","https://openalex.org/W3005175576","https://openalex.org/W2943552078","https://openalex.org/W2100791493","https://openalex.org/W2036107212","https://openalex.org/W2015796905","https://openalex.org/W1634842376","https://openalex.org/W1592244475","https://openalex.org/W1514779868"],"abstract_inverted_index":{"Novelty":[0],"search":[1,5,111,146,181],"is":[2,60],"an":[3],"evolutionary":[4],"algorithm":[6],"based":[7],"on":[8],"the":[9,23,30,45,63,103,113,138,145,166,190,194,199,203,206,213],"superficially":[10],"contradictory":[11],"idea":[12],"that":[13,71,81,131,179],"abandoning":[14,173],"goal":[15,59],"focused":[16],"fitness":[17,27,175],"function":[18],"altogether":[19],"can":[20,73,132],"lead":[21],"to":[22,61,95,100,118,150,165],"discovery":[24],"of":[25,32,47,54,66,84,105,121,127,129,141,168,193,198],"higher":[26],"solutions.":[28,186],"In":[29,93,156],"course":[31],"our":[33],"work,":[34,158],"we":[35,98,159],"have":[36],"created":[37],"a":[38,88,109,162],"biologically":[39],"inspired":[40],"artificial":[41],"development":[42],"system":[43,114],"with":[44,76],"purpose":[46],"automatically":[48],"designing":[49],"complex":[50,123,214],"morphologies":[51],"and":[52,78,135,148,212],"controllers":[53],"multicellular,":[55],"soft-bodied":[56],"robots.":[57],"Our":[58],"harness":[62],"creative":[64],"potential":[65],"in":[67,153,196],"silico":[68],"evolution":[69,104,167],"so":[70],"it":[72],"provide":[74],"us":[75],"novel":[77],"efficient":[79],"designs":[80,143,170],"are":[82],"free":[83],"any":[85],"preconceived":[86],"notions":[87],"human":[89],"designer":[90],"would":[91],"have.":[92],"order":[94],"do":[96],"so,":[97],"strive":[99],"allow":[101],"for":[102,202,209],"arbitrary":[106],"morphologies.":[107],"Using":[108],"fitness-driven":[110],"algorithm,":[112],"has":[115],"been":[116],"shown":[117],"be":[119],"capable":[120],"evolving":[122],"multicellular":[124],"solutions":[125],"consisting":[126],"hundreds":[128],"cells":[130],"walk,":[133],"run":[134],"swim,":[136],"yet":[137],"large":[139],"space":[140],"possible":[142],"makes":[144],"expensive":[147],"prone":[149],"getting":[151],"stuck":[152],"local":[154],"minima.":[155],"this":[157],"investigate":[160],"how":[161],"developmental":[163],"approach":[164],"robotic":[169],"benefits":[171],"from":[172],"objective":[174],"function.":[176],"We":[177,187],"discover":[178],"novelty":[180,204],"produced":[182],"significantly":[183],"better":[184],"performing":[185],"then":[188],"discuss":[189],"key":[191],"factors":[192],"success":[195],"terms":[197],"phenotypic":[200,216],"representation":[201],"search,":[205],"deceptive":[207],"landscape":[208],"co-designing":[210],"morphology/brain,":[211],"development-based":[215],"encoding.":[217]},"abstract_inverted_index_v3":null,"cited_by_api_url":"https://api.openalex.org/works?filter=cites:W2202255759","counts_by_year":[{"year":2024,"cited_by_count":1},{"year":2022,"cited_by_count":1},{"year":2021,"cited_by_count":2},{"year":2020,"cited_by_count":3},{"year":2018,"cited_by_count":1},{"year":2016,"cited_by_count":2}],"updated_date":"2025-04-23T10:50:29.311703","created_date":"2016-06-24"}