{"status":"ok","message-type":"work","message-version":"1.0.0","message":{"indexed":{"date-parts":[[2026,7,11]],"date-time":"2026-07-11T05:57:00Z","timestamp":1783749420262,"version":"3.55.0"},"publisher-location":"Cham","reference-count":27,"publisher":"Springer International Publishing","isbn-type":[{"value":"9783031024610","type":"print"},{"value":"9783031024627","type":"electronic"}],"license":[{"start":{"date-parts":[[2022,1,1]],"date-time":"2022-01-01T00:00:00Z","timestamp":1640995200000},"content-version":"tdm","delay-in-days":0,"URL":"https:\/\/www.springer.com\/tdm"},{"start":{"date-parts":[[2022,1,1]],"date-time":"2022-01-01T00:00:00Z","timestamp":1640995200000},"content-version":"vor","delay-in-days":0,"URL":"https:\/\/www.springer.com\/tdm"}],"content-domain":{"domain":["link.springer.com"],"crossmark-restriction":false},"short-container-title":[],"published-print":{"date-parts":[[2022]]},"DOI":"10.1007\/978-3-031-02462-7_42","type":"book-chapter","created":{"date-parts":[[2022,4,14]],"date-time":"2022-04-14T23:02:49Z","timestamp":1649977369000},"page":"667-682","update-policy":"https:\/\/doi.org\/10.1007\/springer_crossmark_policy","source":"Crossref","is-referenced-by-count":2,"title":["Out of Time: On the Constrains that Evolution in Hardware Faces When Evolving Modular Robots"],"prefix":"10.1007","author":[{"ORCID":"https:\/\/orcid.org\/0000-0003-3738-010X","authenticated-orcid":false,"given":"Rodrigo","family":"Moreno","sequence":"first","affiliation":[],"role":[{"vocabulary":"crossref","role":"author"}]},{"ORCID":"https:\/\/orcid.org\/0000-0001-7288-6988","authenticated-orcid":false,"given":"Andres","family":"Fai\u00f1a","sequence":"additional","affiliation":[],"role":[{"vocabulary":"crossref","role":"author"}]}],"member":"297","published-online":{"date-parts":[[2022,4,15]]},"reference":[{"key":"42_CR1","doi-asserted-by":"publisher","unstructured":"Auerbach, J., et al.: RoboGen: robot generation through artificial evolution. In: Proceedings of the Fourteenth International Conference on the Synthesis and Simulation of Living Systems, Artificial Life, pp. 136\u2013137. The MIT Press, New York (2014). https:\/\/doi.org\/10.7551\/978-0-262-32621-6-ch022","DOI":"10.7551\/978-0-262-32621-6-ch022"},{"issue":"6","key":"42_CR2","doi-asserted-by":"publisher","first-page":"1","DOI":"10.1371\/journal.pone.0128444","volume":"10","author":"L Brodbeck","year":"2015","unstructured":"Brodbeck, L., Hauser, S., Iida, F.: Morphological evolution of physical robots through model-free phenotype development. PLoS ONE 10(6), 1\u201317 (2015). https:\/\/doi.org\/10.1371\/journal.pone.0128444","journal-title":"PLoS ONE"},{"key":"42_CR3","doi-asserted-by":"crossref","unstructured":"Caama\u00f1o, P., Ted\u00edn, R., Paz-Lopez, A., Becerra, J.A.: JEAF: a Java evolutionary algorithm framework. In: IEEE Congress on Evolutionary Computation, pp. 1\u20138. IEEE (2010)","DOI":"10.1109\/CEC.2010.5586546"},{"issue":"143","key":"42_CR4","doi-asserted-by":"publisher","first-page":"20170937","DOI":"10.1098\/rsif.2017.0937","volume":"15","author":"N Cheney","year":"2018","unstructured":"Cheney, N., Bongard, J., SunSpiral, V., Lipson, H.: Scalable co-optimization of morphology and control in embodied machines. J. Roy. Soc. Interface 15(143), 20170937 (2018)","journal-title":"J. Roy. Soc. Interface"},{"issue":"3","key":"42_CR5","doi-asserted-by":"publisher","first-page":"323","DOI":"10.1017\/S0263574707003931","volume":"26","author":"O Chocron","year":"2008","unstructured":"Chocron, O.: Evolutionary design of modular robotic arms. Robotica 26(3), 323\u2013330 (2008). https:\/\/doi.org\/10.1017\/S0263574707003931","journal-title":"Robotica"},{"issue":"7553","key":"42_CR6","doi-asserted-by":"publisher","first-page":"503","DOI":"10.1038\/nature14422","volume":"521","author":"A Cully","year":"2015","unstructured":"Cully, A., Clune, J., Tarapore, D., Mouret, J.B.: Robots that can adapt like animals. Nature 521(7553), 503\u2013507 (2015). https:\/\/doi.org\/10.1038\/nature14422","journal-title":"Nature"},{"issue":"10","key":"42_CR7","doi-asserted-by":"publisher","first-page":"2408","DOI":"10.1016\/j.engappai.2013.09.009","volume":"26","author":"A Fa\u00ed\u00f1a","year":"2013","unstructured":"Fa\u00ed\u00f1a, A., Bellas, F., L\u00f3pez-Pe\u00f1a, F., Duro, R.J.: EDHMoR: evolutionary designer of heterogeneous modular robots. Eng. Appl. Artif. Intell. 26(10), 2408\u20132423 (2013). https:\/\/doi.org\/10.1016\/j.engappai.2013.09.009","journal-title":"Eng. Appl. Artif. Intell."},{"key":"42_CR8","unstructured":"Goff, L.K.L., et al.: Morpho-evolution with learning using a controller archive as an inheritance mechanism. arXiv:2104.04269 [cs], September 2021"},{"key":"42_CR9","doi-asserted-by":"publisher","unstructured":"Hale, M.F., et al.: Hardware design for autonomous robot evolution. In: 2020 IEEE Symposium Series on Computational Intelligence (SSCI), pp. 2140\u20132147, December 2020. https:\/\/doi.org\/10.1109\/SSCI47803.2020.9308204","DOI":"10.1109\/SSCI47803.2020.9308204"},{"key":"42_CR10","doi-asserted-by":"publisher","unstructured":"Hale, M.F., et al.: The ARE robot fabricator: how to (re)produce robots that can evolve in the real world. In: The 2019 Conference on Artificial Life, pp. 95\u2013102. MIT Press, Cambridge (2019). https:\/\/doi.org\/10.1162\/isal_a_00147.xml","DOI":"10.1162\/isal_a_00147.xml"},{"key":"42_CR11","doi-asserted-by":"publisher","first-page":"9","DOI":"10.3389\/frobt.2019.00009","volume":"6","author":"M Jelisavcic","year":"2019","unstructured":"Jelisavcic, M., Glette, K., Haasdijk, E., Eiben, A.E.: Lamarckian evolution of simulated modular robots. Front. Robot. AI 6, 9 (2019). https:\/\/doi.org\/10.3389\/frobt.2019.00009","journal-title":"Front. Robot. AI"},{"issue":"11","key":"42_CR12","doi-asserted-by":"publisher","first-page":"1238","DOI":"10.1177\/0278364913495721","volume":"32","author":"J Kober","year":"2013","unstructured":"Kober, J., Bagnell, J.A., Peters, J.: Reinforcement learning in robotics: a survey. Int. J. Robot. Res. 32(11), 1238\u20131274 (2013). https:\/\/doi.org\/10.1177\/0278364913495721","journal-title":"Int. J. Robot. Res."},{"issue":"1","key":"42_CR13","doi-asserted-by":"publisher","first-page":"122","DOI":"10.1109\/TEVC.2012.2185849","volume":"17","author":"S Koos","year":"2013","unstructured":"Koos, S., Mouret, J.B., Doncieux, S.: The transferability approach: crossing the reality gap in evolutionary robotics. IEEE Trans. Evol. Comput. 17(1), 122\u2013145 (2013). https:\/\/doi.org\/10.1109\/TEVC.2012.2185849","journal-title":"IEEE Trans. Evol. Comput."},{"key":"42_CR14","doi-asserted-by":"publisher","unstructured":"Lan, G., De Carlo, M., van Diggelen, F., Tomczak, J.M., Roijers, D.M., Eiben, A.E.: Learning directed locomotion in modular robots with evolvable morphologies. Appl. Soft Comput. 111 (2021). https:\/\/doi.org\/10.1016\/j.asoc.2021.107688","DOI":"10.1016\/j.asoc.2021.107688"},{"key":"42_CR15","doi-asserted-by":"crossref","unstructured":"Lipson, H., Sunspiral, V., Bongard, J., Cheney, N.: On the difficulty of co-optimizing morphology and control in evolved virtual creatures. In: Artificial Life Conference Proceedings 13, pp. 226\u2013233. MIT Press (2016)","DOI":"10.7551\/978-0-262-33936-0-ch042"},{"key":"42_CR16","doi-asserted-by":"crossref","unstructured":"Marbach, D., Ijspeert, A.J.: Online optimization of modular robot locomotion. In: IEEE International Conference Mechatronics and Automation, vol. 1, pp. 248\u2013253. IEEE (2005)","DOI":"10.1109\/ICMA.2005.1626555"},{"key":"42_CR17","doi-asserted-by":"publisher","unstructured":"Moreno, R., et al.: Automated reconfiguration of modular robots using robot manipulators. In: 2018 IEEE Symposium Series on Computational Intelligence (SSCI), pp. 884\u2013891, November 2018. https:\/\/doi.org\/10.1109\/SSCI.2018.8628628","DOI":"10.1109\/SSCI.2018.8628628"},{"key":"42_CR18","doi-asserted-by":"crossref","unstructured":"Moreno, R., Faina, A.: Reusability vs morphological space in physical robot evolution. In: Proceedings of the 2020 Genetic and Evolutionary Computation Conference Companion, pp. 1389\u20131391 (2020)","DOI":"10.1145\/3377929.3398135"},{"key":"42_CR19","doi-asserted-by":"publisher","first-page":"198","DOI":"10.3389\/frobt.2021.699814","volume":"8","author":"R Moreno","year":"2021","unstructured":"Moreno, R., Fai\u00f1a, A.: EMERGE modular robot: a tool for fast deployment of evolved robots. Front. Robot. AI 8, 198 (2021). https:\/\/doi.org\/10.3389\/frobt.2021.699814","journal-title":"Front. Robot. AI"},{"key":"42_CR20","unstructured":"Mouret, J.B., Clune, J.: Illuminating search spaces by mapping elites. arXiv:1504.04909 [cs, q-bio], April 2015"},{"key":"42_CR21","doi-asserted-by":"publisher","first-page":"2035","DOI":"10.1007\/978-3-319-32552-1_76","volume-title":"Springer Handbook of Robotics","author":"S Nolfi","year":"2016","unstructured":"Nolfi, S., Bongard, J., Husbands, P., Floreano, D.: Evolutionary robotics. In: Siciliano, B., Khatib, O. (eds.) Springer Handbook of Robotics, pp. 2035\u20132068. Springer, Cham (2016). https:\/\/doi.org\/10.1007\/978-3-319-32552-1_76"},{"key":"42_CR22","series-title":"Lecture Notes in Computer Science","doi-asserted-by":"publisher","first-page":"3","DOI":"10.1007\/978-3-030-72699-7_1","volume-title":"Applications of Evolutionary Computation","author":"J Nordmoen","year":"2021","unstructured":"Nordmoen, J., Nygaard, T.F., Samuelsen, E., Glette, K.: On restricting real-valued genotypes in evolutionary algorithms. In: Castillo, P.A., Jim\u00e9nez Laredo, J.L. (eds.) EvoApplications 2021. LNCS, vol. 12694, pp. 3\u201316. Springer, Cham (2021). https:\/\/doi.org\/10.1007\/978-3-030-72699-7_1"},{"key":"42_CR23","doi-asserted-by":"publisher","first-page":"56","DOI":"10.3389\/frobt.2021.639173","volume":"8","author":"J Nordmoen","year":"2021","unstructured":"Nordmoen, J., Veenstra, F., Ellefsen, K.O., Glette, K.: MAP-elites enables powerful stepping stones and diversity for modular robotics. Front. Robot. AI 8, 56 (2021). https:\/\/doi.org\/10.3389\/frobt.2021.639173","journal-title":"Front. Robot. AI"},{"key":"42_CR24","doi-asserted-by":"publisher","unstructured":"Nygaard, T.F., Martin, C.P., Samuelsen, E., Torresen, J., Glette, K.: Real-world evolution adapts robot morphology and control to hardware limitations. In: Proceedings of the Genetic and Evolutionary Computation Conference. GECCO 2018, pp. 125\u2013132. Association for Computing Machinery, New York, July 2018. https:\/\/doi.org\/10.1145\/3205455.3205567","DOI":"10.1145\/3205455.3205567"},{"issue":"5","key":"42_CR25","doi-asserted-by":"publisher","first-page":"410","DOI":"10.1038\/s42256-021-00320-3","volume":"3","author":"TF Nygaard","year":"2021","unstructured":"Nygaard, T.F., Martin, C.P., Torresen, J., Glette, K., Howard, D.: Real-world embodied AI through a morphologically adaptive quadruped robot. Nat. Mach. Intell. 3(5), 410\u2013419 (2021). https:\/\/doi.org\/10.1038\/s42256-021-00320-3","journal-title":"Nat. Mach. Intell."},{"key":"42_CR26","doi-asserted-by":"publisher","unstructured":"Rohmer, E., Singh, S.P.N., Freese, M.: V-REP: a versatile and scalable robot simulation framework. In: IROS 2013, pp. 1321\u20131326. IEEE, Tokyo, November 2013. https:\/\/doi.org\/10.1109\/IROS.2013.6696520","DOI":"10.1109\/IROS.2013.6696520"},{"key":"42_CR27","doi-asserted-by":"publisher","unstructured":"Sims, K.: Evolving virtual creatures. In: Proceedings of the 21st Annual Conference on Computer Graphics and Interactive Techniques - SIGGRAPH 1994, pp. 15\u201322. ACM Press, New York (1994). https:\/\/doi.org\/10.1145\/192161.192167","DOI":"10.1145\/192161.192167"}],"container-title":["Lecture Notes in Computer Science","Applications of Evolutionary Computation"],"original-title":[],"language":"en","link":[{"URL":"https:\/\/link.springer.com\/content\/pdf\/10.1007\/978-3-031-02462-7_42","content-type":"unspecified","content-version":"vor","intended-application":"similarity-checking"}],"deposited":{"date-parts":[[2024,9,22]],"date-time":"2024-09-22T08:03:11Z","timestamp":1726992191000},"score":1,"resource":{"primary":{"URL":"https:\/\/link.springer.com\/10.1007\/978-3-031-02462-7_42"}},"subtitle":[],"short-title":[],"issued":{"date-parts":[[2022]]},"ISBN":["9783031024610","9783031024627"],"references-count":27,"URL":"https:\/\/doi.org\/10.1007\/978-3-031-02462-7_42","relation":{},"ISSN":["0302-9743","1611-3349"],"issn-type":[{"value":"0302-9743","type":"print"},{"value":"1611-3349","type":"electronic"}],"subject":[],"published":{"date-parts":[[2022]]},"assertion":[{"value":"15 April 2022","order":1,"name":"first_online","label":"First Online","group":{"name":"ChapterHistory","label":"Chapter History"}},{"value":"EvoApplications","order":1,"name":"conference_acronym","label":"Conference Acronym","group":{"name":"ConferenceInfo","label":"Conference Information"}},{"value":"International Conference on the Applications of Evolutionary Computation (Part of EvoStar)","order":2,"name":"conference_name","label":"Conference Name","group":{"name":"ConferenceInfo","label":"Conference Information"}},{"value":"Madrid","order":3,"name":"conference_city","label":"Conference City","group":{"name":"ConferenceInfo","label":"Conference Information"}},{"value":"Spain","order":4,"name":"conference_country","label":"Conference Country","group":{"name":"ConferenceInfo","label":"Conference Information"}},{"value":"2022","order":5,"name":"conference_year","label":"Conference Year","group":{"name":"ConferenceInfo","label":"Conference Information"}},{"value":"20 April 2022","order":7,"name":"conference_start_date","label":"Conference Start Date","group":{"name":"ConferenceInfo","label":"Conference Information"}},{"value":"22 April 2022","order":8,"name":"conference_end_date","label":"Conference End Date","group":{"name":"ConferenceInfo","label":"Conference Information"}},{"value":"25","order":9,"name":"conference_number","label":"Conference Number","group":{"name":"ConferenceInfo","label":"Conference Information"}},{"value":"evoapplications2022","order":10,"name":"conference_id","label":"Conference ID","group":{"name":"ConferenceInfo","label":"Conference Information"}},{"value":"http:\/\/www.evostar.org\/2022\/","order":11,"name":"conference_url","label":"Conference URL","group":{"name":"ConferenceInfo","label":"Conference Information"}},{"value":"Double-blind","order":1,"name":"type","label":"Type","group":{"name":"ConfEventPeerReviewInformation","label":"Peer Review Information (provided by the conference organizers)"}},{"value":"EasyChair","order":2,"name":"conference_management_system","label":"Conference Management System","group":{"name":"ConfEventPeerReviewInformation","label":"Peer Review Information (provided by the conference organizers)"}},{"value":"67","order":3,"name":"number_of_submissions_sent_for_review","label":"Number of Submissions Sent for Review","group":{"name":"ConfEventPeerReviewInformation","label":"Peer Review Information (provided by the conference organizers)"}},{"value":"46","order":4,"name":"number_of_full_papers_accepted","label":"Number of Full Papers Accepted","group":{"name":"ConfEventPeerReviewInformation","label":"Peer Review Information (provided by the conference organizers)"}},{"value":"0","order":5,"name":"number_of_short_papers_accepted","label":"Number of Short Papers Accepted","group":{"name":"ConfEventPeerReviewInformation","label":"Peer Review Information (provided by the conference organizers)"}},{"value":"69% - The value is computed by the equation \"Number of Full Papers Accepted \/ Number of Submissions Sent for Review * 100\" and then rounded to a whole number.","order":6,"name":"acceptance_rate_of_full_papers","label":"Acceptance Rate of Full Papers","group":{"name":"ConfEventPeerReviewInformation","label":"Peer Review Information (provided by the conference organizers)"}},{"value":"3.1","order":7,"name":"average_number_of_reviews_per_paper","label":"Average Number of Reviews per Paper","group":{"name":"ConfEventPeerReviewInformation","label":"Peer Review Information (provided by the conference organizers)"}},{"value":"1.56","order":8,"name":"average_number_of_papers_per_reviewer","label":"Average Number of Papers per Reviewer","group":{"name":"ConfEventPeerReviewInformation","label":"Peer Review Information (provided by the conference organizers)"}},{"value":"No","order":9,"name":"external_reviewers_involved","label":"External Reviewers Involved","group":{"name":"ConfEventPeerReviewInformation","label":"Peer Review Information (provided by the conference organizers)"}}]}}