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In this review we introduce the framework of reality-assisted evolution to summarize a growing trend towards combining model-based and model-free approaches to improve the design of physically embodied soft robots.
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Self-organization, embodiment, and biologically inspired robotics
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Genetic swarm grammar programming: Ecological breeding like a gardener
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Mechanics modeling of tendon-driven continuum manipulators
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Supersizing the mind: Embodiment, action, and cognitive extension
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Gilpin, K., Kotay, K., Rus, D., & Vasilescu, I. (2008) · 2008
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Incremental evolution of animats’ behaviors as a multi-objective optimization
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Distilling free-form natural laws from experimental data
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Robot pebbles: One centimeter modules for programmable matter through self-disassembly
Gilpin, K., Knaian, A., & Rus, D. (2010) · 2010
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Schmid, P. J. (2010) · 2010
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Design and kinematic modeling of constant curvature continuum robots: A review
Webster III, R. J., & Jones, B. A. (2010) · 2010
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On the performance of indirect encoding across the continuum of regularity
Clune, J., Stanley, K. O., Pennock, R. T., & Ofria, C. (2011) · 2011
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Soft robotics for chemists
Ilievski, F., Mazzeo, A. D., Shepherd, R. F., Chen, X., & Whitesides, G. M. (2011) · 2011
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Converting 3D furniture models to fabricatable parts and connectors
Lau, M., Ohgawara, A., Mitani, J., & Igarashi, T. (2011) · 2011
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Abandoning objectives: Evolution through the search for novelty alone
Lehman, J., & Stanley, K. O. (2011) · 2011
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Evolving a diversity of virtual creatures through novelty search and local competition
Lehman, J., & Stanley, K. O. (2011) · 2011
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Towards printable robotics: Origami-inspired planar fabrication of three-dimensional mechanisms
Onal, C. D., Wood, R. J., & Rus, D. (2011) · 2011
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Emulating self-reconfigurable robots - design of the smores system
Davey, J., Kwok, N., & Yim, M. (2012) · 2012
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Automatic design and manufacture of soft robots
Hiller, J., & Lipson, H. (2012) · 2012
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Encouraging behavioral diversity in evolutionary robotics: An empirical study
Mouret, J.-B., & Doncieux, S. (2012) · 2012
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The challenges ahead for bio-inspired ‘soft’ robotics
Pfeifer, R., Lungarella, M., & Iida, F. (2012) · 2012
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A comparative study of physics engines for modeling soft tissue deformation
Silva, D. F., & Maciel, A. (2012) · 2012
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Practical bayesian optimization of machine learning algorithms
Snoek, J., Larochelle, H., & Adams, R. P. (2012) · 2012
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Unshackling evolution: Evolving soft robots with multiple materials and a powerful generative encoding
Cheney, N., MacCurdy, R., Clune, J., & Lipson, H. (2013) · 2013
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A soft strain sensor based on ionic and metal liquids
Chossat, J., Park, Y., Wood, R. J., & Duchaine, V. (2013) · 2013
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The evolutionary origins of modularity
Clune, J., Mouret, J.-B., & Lipson, H. (2013) · 2013
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Control of elastic soft robots based on real-time finite element method
Duriez, C. (2013) · 2013
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The triangle of life: Evolving robots in real-time and real-space
Eiben, A., Bredeche, N., Hoogendoorn, M., Stradner, J., Timmis, J., Tyrrell, A., & Winfield, A. (2013) · 2013
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Soft robotics: A bioinspired evolution in robotics
Kim, S., Laschi, C., & Trimmer, B. (2013) · 2013
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The transferability approach: Crossing the reality gap in evolutionary robotics
Koos, S., Mouret, J., & Doncieux, S. (2013) · 2013
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Active sensing system with in situ adjustable sensor morphology
Nurzaman, S. G., Culha, U., Brodbeck, L., Wang, L., & Iida, F. (2013) · 2013
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M-blocks: Momentum-driven, magnetic modular robots
Romanishin, J. W., Gilpin, K., & Rus, D. (2013) · 2013
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Characterization of silicone rubber based soft pneumatic actuators
Sun, Y., Song, Y. S., & Paik, J. (2013) · 2013
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3D printing and humanity’s first imperfect replicator
Bowyer, A. (2014) · 2014
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Design and control of compliant tensegrity robots through simulation and hardware validation
Caluwaerts, K., Despraz, J., Işçen, A., Sabelhaus, A. P., Bruce, J., Schrauwen, B., & SunSpiral, V. (2014) · 2014
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Growing fine-grained multicellular robots
Doursat, R., & Sánchez, C. (2014) · 2014
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Dynamic simulation of soft multimaterial 3D-printed objects
Hiller, J., & Lipson, H. (2014) · 2014
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Evolution of locomotion on a physical tensegrity robot
Khazanov, M., Jocque, J., & Rieffel, J. (2014) · 2014
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Challenges and opportunities for design, simulation, and fabrication of soft robots
Lipson, H. (2014) · 2014
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Cogeneration of mechanical, electrical, and software designs for printable robots from structural specifications
Mehta, A. M., DelPreto, J., Shaya, B., & Rus, D. (2014) · 2014
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An end-to-end system for designing mechanical structures for print-and-fold robots
Mehta, A. M., & Rus, D. (2014) · 2014
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Soft robotics on the move: Scientific networks, activities, and future challenges
Nurzaman, S. G., Iida, F., Margheri, L., & Laschi, C. (2014) · 2014
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Evolving morphologies with cppn-neat and a dynamic substrate
Richards, D., & Amos, M. (2014) · 2014
Cited alongside, same era.
Growing and evolving soft robots
Rieffel, J., Knox, D., Smith, S., & Trimmer, B. (2014) · 2014
Evolutionary developmental robotics: Improving morphology and control of physical robots
Vujovic, V., Rosendo, A., Brodbeck, L., & Iida, F. (2017) · 2017
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Bio-inspired tensegrity soft modular robots
Zappetti, D., Mintchev, S., Shintake, J., & Floreano, D. (2017) · 2017
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A smoothed finite element-based elasticity model for soft bodies
Zhang, J., Zhou, M., Huang, Y., Ren, P., Wu, Z., Wang, X., & Zhao, S. F. (2017) · 2017
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Learning object grasping for soft robot hands
Choi, C., Schwarting, W., DelPreto, J., & Rus, D. (2018) · 2018
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Evolving soft locomotion in aquatic and terrestrial environments: Effects of material properties and environmental transitions
Corucci, F., Cheney, N., Giorgio-Serchi, F., Bongard, J., & Laschi, C. (2018) · 2018
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Programmable self-assembly in a thousand-robot swarm
Rubenstein, M., Cornejo, A., & Nagpal, R. (2014) · 2014
Cited alongside, same era.
Designing collective behavior in a termite-inspired robot construction team
Werfel, J., Petersen, K., & Nagpal, R. (2014) · 2014
Cited alongside, same era.
Morphological evolution of physical robots through model-free phenotype development
Brodbeck, L., Hauser, S., & Iida, F. (2015) · 2015
Cited alongside, same era.
Evolving soft robots in tight spaces
Cheney, N., Bongard, J., & Lipson, H. (2015) · 2015
Cited alongside, same era.
Vapour-mediated sensing and motility in two-component droplets
Cira, N. J., Benusiglio, A., & Prakash, M. (2015) · 2015
Cited alongside, same era.
Mechanical programming of soft actuators by varying fiber angle
Connolly, F., Polygerinos, P., Walsh, C. J., & Bertoldi, K. (2015) · 2015
Cited alongside, same era.
Duarte, M., Gomes, J., Oliveira, S. M., & Christensen, A. L. (2018) · 2018
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A tutorial on bayesian optimization
Frazier, P. I. (2018) · 2018
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3D printing for soft robotics – a review
Gul, J. Z., Sajid, M., Rehman, M. M., Siddiqui, G. U., Shah, I., Kim, K.-H., Lee, J.-W., & Choi, K. H. (2018) · 2018
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An anthropomorphic soft skeleton hand exploiting conditional models for piano playing
Hughes, J. A. E., Maiolino, P., & Iida, F. (2018) · 2018
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The emergence of canalization and evolvability in an open-ended, interactive evolutionary system
Huizinga, J., Stanley, K. O., & Clune, J. (2018) · 2018
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How morphological development can guide evolution
Kriegman, S., Cheney, N., & Bongard, J. (2018) · 2018
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Handedness in shearing auxetics creates rigid and compliant structures
Lipton, J. I., MacCurdy, R., Manchester, Z., Chin, L., Cellucci, D., & Rus, D. (2018) · 2018
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Biohybrid robot powered by an antagonistic pair of skeletal muscle tissues
Morimoto, Y., Onoe, H., & Takeuchi, S. (2018) · 2018
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Real-world evolution adapts robot morphology and control to hardware limitations
Nygaard, T. F., Martin, C. P., Samuelsen, E., Torresen, J., & Glette, K. (2018) · 2018
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Sim-to-real transfer of robotic control with dynamics randomization
Peng, X. B., Andrychowicz, M., Zaremba, W., & Abbeel, P. (2018) · 2018
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Efficient FEM-based simulation of soft robots modeled as kinematic chains
Pozzi, M., Miguel, E., Deimel, R., Malvezzi, M., Bickel, B., Brock, O., & Prattichizzo, D. (2018) · 2018
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Adaptive and resilient soft tensegrity robots
Rieffel, J., & Mouret, J.-B. (2018) · 2018
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Design, fabrication and control of origami robots
Rus, D., & Tolley, M. T. (2018) · 2018
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Model-free design optimization of a hopping robot and its comparison with a human designer
Saar, K. A., Giardina, F., & Iida, F. (2018) · 2018
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Soft robots manufacturing: A review
Schmitt, F., Piccin, O., Barbé, L., & Bayle, B. (2018) · 2018
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Evolution of fin undulation on a physical knifefish-inspired soft robot
Veenstra, F., Jørgensen, J., & Risi, S. (2018) · 2018
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3D printing of soft robotic systems
Wallin, T., Pikul, J., & Shepherd, R. (2018) · 2018
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Soft robotics
Whitesides, G. M. (2018) · 2018
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Design and evaluation of a continuum robot with extendable balloons
Yarbasi, E. Y., & Samur, E. (2018) · 2018
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Design methodology for constructing multimaterial origami robots and machines
Zhakypov, Z., & Paik, J. (2018) · 2018
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Microrobotics and microorganisms: Biohybrid autonomous cellular robots
Alapan, Y., Yasa, O., Yigit, B., Yasa, I. C., Erkoc, P., & Sitti, M. (2019) · 2019
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Novelty search: A theoretical perspective
Doncieux, S., Laflaquière, A., & Coninx, A. (2019) · 2019
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Evolving embodied intelligence from materials to machines
Howard, D., Eiben, A. E., Kennedy, D. F., Mouret, J.-B., Valencia, P., & Winkler, D. (2019) · 2019
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Chainqueen: A real-time differentiable physical simulator for soft robotics
Hu, Y., Liu, J., Spielberg, A., Tenenbaum, J. B., Freeman, W. T., Wu, J., Rus, D., & Matusik, W. (2019) · 2019
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Task-agnostic self-modeling machines
Kwiatkowski, R., & Lipson, H. (2019) · 2019
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Dielectric elastomer spring-roll bending actuators: Applications in soft robotics and design
Li, J., Liu, L., Liu, Y., & Leng, J. (2019) · 2019
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Differentiable cloth simulation for inverse problems
Liang, J., Lin, M., & Koltun, V. (2019) · 2019
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Design and validation of a reconfigurable robotic end-effector based on shape memory alloys
Motzki, P., Khelfa, F., Zimmer, L., Schmidt, M., & Seelecke, S. (2019) · 2019
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A review on animal–robot interaction: From bio-hybrid organisms to mixed societies
Romano, D., Donati, E., Benelli, G., & Stefanini, C. (2019) · 2019
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Latent ordinary differential equations for irregularly-sampled time series
Rubanova, Y., Chen, R. T. Q., & Duvenaud, D. K. (2019) · 2019
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Model-free soft-structure reconstruction for proprioception using tactile arrays
Scimeca, L., Hughes, J., Maiolino, P., & Iida, F. (2019) · 2019
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Controllability pre-verification of silicone soft robots based on finite-element method
Zheng, G., Goury, O., Thieffry, M., Kruszewski, A., & Duriez, C. (2019) · 2019
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A vision-based collocated actuation-sensing scheme for a compliant tendon-driven robotic hand
Gilday, K., Thuruthel, T. G., & Iida, F. (2020) · 2020
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Roombots extended: Challenges in the next generation of self-reconfigurable modular robots and their application in adaptive and assistive furniture
Hauser, S., Mutlu, M., Léziart, P. A., Khodr, H., Bernardino, A., & Ijspeert, A. J. (2020) · 2020
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A scalable pipeline for designing reconfigurable organisms
Kriegman, S., Blackiston, D., Levin, M., & Bongard, J. (2020) · 2020
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Scalable sim-to-real transfer of soft robot designs
Kriegman, S., Nasab, A. M., Shah, D., Steele, H., Branin, G., Levin, M., Bongard, J., & Kramer-Bottiglio, R. (2020) · 2020
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Sim2real gap is non-monotonic with robot complexity for morphology-in-the-loop flapping wing design
Rosser, K., Kok, J., Chahl, J., & Bongard, J. (2020) · 2020
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Control oriented modeling of soft robots: The polynomial curvature case
Santina, C. D., & Rus, D. (2020) · 2020
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Electronic skins and machine learning for intelligent soft robots
Shih, B., Shah, D., Li, J., Thuruthel, T. G., Park, Y.-L., Iida, F., Bao, Z., Kramer-Bottiglio, R., & Tolley, M. T. (2020) · 2020
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