Continuing the discussion from Comments on Gpuccio: Functional Information Methodology:
Really interesting reference by @Timothy_Horton!
See the full story at the lab web page here:
The related papers here:
Unshackling evolution: evolving soft robots with multiple materials and a powerful generative encoding
N Cheney, R MacCurdy, J Clune, H Lipson - Proceedings of the 15th annual conference on Genetic …, 2013-18814.
Evolved electrophysiological soft robots
N Cheney, J Clune, H Lipson ALIFE 14, 222-229
Evolving Soft Robots in Tight Spaces
N Cheney, J Bongard, H Lipson Proceedings of the 2015 Annual Conference on Genetic and Evolutionary
Topological evolution for embodied cellular automata
N Cheney, H Lipson Theoretical Computer Science 633, 19-27 …
The simulator they used is freely available: VoxCad - Creative Machines Lab - Columbia University