Edinburgh Napier University

  We survey and reflect on evolutionary approaches to the joint optimisation of the body and control of a robot, in scenarios where a the goal is to find a design that maximises performance on a specified task. The review is grounded in a general framework for evolution which permits the interaction of evolution acting on a population with individual and cultural learning mechanisms. We discuss examples of variations of the general scheme of "evolution plus learning" from a broad range of robotic systems, and reflect on how the interaction of the two paradigms influences diversity, performance, and rate of improvement. Finally, we suggest a number of avenues for future work as result of the insights that arise from the review.