TABLE 3.

Simulation experiments parameters.

Parameter	Value
Evaluations	25,000
Population	40
Repetitions	30
Variants tested in growing phase a	3
Variants tested in morphological phase a	3
Variants tested in control phase a	10
Symmetric robots generated in replacement phase a	5
Random robots generated in replacement phase a	5
Controller mutation probability	0.4
Initial time for evaluation (s)	6
Max allowed time (s)	38
Broken connection penalty	0.8
Actuator range (radians)	$\left[-\frac{\pi }{2},\frac{\pi }{2}\right]$
Simulation time step (ms)	50
Physics engine time step (ms)	5
Force sensor torque threshold (nm)	1

^aSee (Faíña et al., 2013) for details.