Abstract
In conventional studies, it is considered that differences of actuators are not important for realizing intelligent behavior, so, conventional robots employ motors as actuators.However, animals have muscles, and recently, it is reported that physical properties of the muscles like viscoelasticity play an important role in realizing intelligent behavior.In this paper, we consider that learning time (time required for adapting themselves to the environment) works as selection pressure, and actuators like muscles are acquired in evolution.To discuss this hypothesis, we employ a manipulator, and evolve the manipulator in simulation. Fitness of the manipulator is calculated from learning time. Simulations have been conducted, and as a result, manipulators that have actuators with viscoelasticity have been obtained. By analyzing the result, we found that the body image of the manipulator has consisted of the viscoelasticity, and the body image has reduced learning time.
