“…A variety of approaches have yielded controllers adapted to tasks, including evolution of neurocontrollers for walking [9]- [17], grasping an object [18], control of finless rockets [19], swimming [1], [8], station keeping [20], and complex behaviors such as foraging and game playing [7], [21]- [29]. While many studies focus on evolving controllers for fixed morphologies [2], [3], [5]- [7], [30]- [34], several recent investigations have addressed the evolution of morphology [8], [35]- [38], and even the coevolution of morphology and control [13], [15], [33], [39]- [42].…”