  The field of evolutionary robotics uses principles of natural evolution to
design robots. In this paper, we study the effect of adding a new module
inspired by the skeletal muscle to the existing RoboGen framework: the linear
actuator. Additionally, we investigate how robots evolved in a plain
environment differ from robots evolved in a rough environment. We consider the
task of directed locomotion for comparing evolved robot morphologies. The
results show that the addition of the linear actuator does not have a
significant impact on the performance and morphologies of robots evolved in a
plain environment. However, we find significant differences in the morphologies
of robots evolved in a plain environment and robots evolved in a rough
environment. We find that more complex behavior and morphologies emerge when we
change the terrain of the environment.
