Error Important Notice: The Journal Artificial Life and Robotics has switched from double-blind to single-blind peer review for the papers submitted on or after July 1, 2022.

Submission Guidelines

Manuscripts for publication should be submitted via the online submission form

Online Submission Form

If you have any questions about the submission, please send an email to


LaTeX macro
Word template:Sample.docx

Manuscript Submission

Submission of a manuscript implies: that the work described has not been published before; that it is not under consideration for publication anywhere else; that its publication has been approved by all co-authors, if any, as well as by the responsible authorities – tacitly or explicitly – at the institute where the work has been carried out. The publisher will not be held legally responsible should there be any claims for compensation.

1) Permissions

Authors wishing to include figures, tables, or text passages that have already been published elsewhere are required to obtain permission from the copyright owner(s) for both the print and online format and to include evidence that such permission has been granted when submitting their papers.
Any material received without such evidence will be assumed to originate from the authors.

2) How to Submit

Manuscripts should preferably be submitted in the original file format and in PDF format.

Title page

The title page should include:

  • - The name(s) of the author(s)
  • - A concise and informative title
  • - The affiliation(s) and address(es) of the author(s)
  • - The e-mail address, telephone and fax numbers of the corresponding author


Please provide an abstract of 150 to 250 words. The abstract should not contain any undefined abbreviations or unspecified references.


Please provide 4 to 6 keywords which can be used for indexing purposes.


Text Formatting

  • ・Use a normal, plain font (e.g., 10-point Times Roman) for text.
  • ・Use italics for emphasis.
  • ・Use the automatic page numbering function to number the pages.
  • ・Do not use field functions.
  • ・Use tab stops or other commands for indents, not the space bar.
  • ・Use the table function, not spreadsheets, to make tables.
  • ・Use the equation editor or MathType for equations.
  • Note: If you use Word 2007, do not create the equations with the default equation editor but use the Microsoft equation editor or MathType instead.


Please use no more than three levels of displayed headings.


Abbreviations should be defined at first mention and used consistently thereafter.


Footnotes can be used to give additional information, which may include the citation of a reference included in the reference list. They should not consist solely of a reference citation, and they should never include the bibliographic details of a reference. They should also not contain any figures or tables.
Footnotes to the text are numbered consecutively; those to tables should be indicated by superscript lower-case letters (or asterisks for significance values and other statistical data). Footnotes to the title or the authors of the article are not given reference symbols.
Always use footnotes instead of endnotes.


Acknowledgments of people, grants, funds, etc. should be placed in a separate section before the reference list. The names of funding organizations should be written in full.



Reference citations in the text should be identified by numbers in square brackets.
Some examples:

  • 1. Negotiation research spans many disciplines [3].
  • 2. This result was later contradicted by Becker and Seligman [5].
  • 3. This effect has been widely studied [1-3, 7].

Reference list

The list of references should only include works that are cited in the text and that have been published or accepted for publication. Personal communications and unpublished works should only be mentioned in the text. Do not use footnotes or endnotes as a substitute for a reference list.
The entries in the list should be numbered consecutively.

- Journal article

Tao CW, Taur JS, Chan ML (2004) Adaptive fuzzy terminal sliding mode controller for linear systems with mismatched time-varying uncertainties. IEEE Trans Syst Man Cybern 34(1): 255-262
Ideally, the names of all authors should be provided, but the usage of “et al” in long author lists will also be accepted:
Morales Y, Carballo A, Takeuchi E, et al (2009) Autonomous robot navigation in outdoor cluttered pedestrian walkways. J Field Robotics 26(8):609-635

- Article by DOI

Soung-Min Im, Ju-Jang Lee (2008) Adaptive crossover, mutation and selection using fuzzy system for genetic algorithms. Artif Life Robotics (13:129-133). doi:10.1007/s10015-008-0545-1

- Book

Sutton RS, Barto AG (1998) Reinforcement learning: an introduction. MIT Press, Cambridge

- Press, Cambridge Book chapter

Gunter Niemeyer and Jean-Jacques E. Slotine (1990) Experimental studies of adaptive manipulator control. In: V. Hayward, O. Khatib (Eds.) Experimental Robotics I, Springer, pp. 166-179 (Lecture Notes in Control and Information Sciences 139)

- Online document

Cartwright J (2007) Big stars have weather too. IOP Publishing
PhysicsWeb. Accessed 26 June 2007
Always use the standard abbreviation of a journal’s name according to the ISSN List of Title Word Abbreviations, see


  • ・All tables are to be numbered using Arabic numerals.
  • ・Tables should always be cited in text in consecutive numerical order.
  • ・For each table, please supply a table caption (title) explaining the components of the table.
  • ・Identify any previously published material by giving the original source in the form of a reference at the end of the table caption.
  • ・Footnotes to tables should be indicated by superscript lower-case letters
    (or asterisks for significance values and other statistical data) and included beneath the table body.


Electronic Figure Submission

  • ・Supply all figures electronically.
  • ・Indicate what graphics program was used to create the artwork.
  • ・For vector graphics, the preferred format is EPS; for halftones, please use TIFF format. MS Office files are also acceptable.
  • ・Vector graphics containing fonts must have the fonts embedded in the files.
  • ・Name your figure files with "Fig" and the figure number, e.g., Fig1.eps.

Line Art

  • ・Definition: Black and white graphic with no shading.
  • ・Do not use faint lines and/or lettering and check that all lines and lettering within the figures are legible at final size.
  • ・All lines should be at least 0.1 mm (0.3 pt) wide.
  • ・Scanned line drawings and line drawings in bitmap format should have a minimum resolution of 1200 dpi.
  • ・Vector graphics containing fonts must have the fonts embedded in the files.

Halftone Art

  • ・Definition: Photographs, drawings, or paintings with fine shading, etc.
  • ・If any magnification is used in the photographs, indicate this by using scale bars within the figures themselves.
  • ・Halftones should have a minimum resolution of 300 dpi.

Combination Art

  • ・Definition: a combination of halftone and line art, e.g., halftones containing line drawing, extensive lettering, color diagrams, etc.
  • ・Combination artwork should have a minimum resolution of 600 dpi.

Color Art

  • ・Color art is free of charge for online publication.
  • ・If black and white will be shown in the print version, make sure that the main information will still be visible. Many colors are not distinguishable from one another when converted to black and white. A simple way to check this is to make a xerographic copy to see if the necessary distinctions between the different colors are still apparent.
  • ・If the figures will be printed in black and white, do not refer to color in the captions.
  • ・Color illustrations should be submitted as RGB (8 bits per channel).

Figure Lettering

  • ・To add lettering, it is best to use Helvetica or Arial (sans serif fonts).
  • ・Keep lettering consistently sized throughout your final-sized artwork, usually about 2–3 mm (8–12 pt).
  • ・Variance of type size within an illustration should be minimal, e.g., do not use 8-pt type on an axis and 20-pt type for the axis label.
  • ・Avoid effects such as shading, outline letters, etc.
  • ・Do not include titles or captions into your illustrations.

Figure Numbering

  • ・All figures are to be numbered using Arabic numerals.
  • ・Figures should always be cited in the text in consecutive numerical order.
  • ・Figure parts should be denoted by lowercase letters (a, b, c, etc.).
  • ・If an appendix appears in your article/chapter and it contains one or more figures, continue the consecutive numbering of the main text. Do not number the appendix figures, "A1, A2, A3, etc." Figures in online appendices (Electronic supplementary Material) should, however, be numbered separately.

Figure Captions

  • ・Each figure should have a concise caption describing accurately what the figure depicts. Include the captions in the text file of the manuscript, not in the figure file.
  • ・Figure captions begin with the term Fig. in bold type, followed by the figure number, also in bold type.
  • ・No punctuation is to be included after the number, nor is any punctuation to be placed at the end of the caption.
  • ・Identify all elements found in the figure in the figure caption; and use boxes, circles, etc., as coordinate points in graphs.
  • ・Identify previously published material by giving the original source in the form of a reference citation at the end of the figure caption.

Figure Placement and Size

  • ・When preparing your figures, size figures to fit in the column width.
  • ・The figures should be 39 mm, 84 mm, 129 mm, or 174 mm wide and not higher than 234 mm.
  • ・For books and book-sized journals, the figures should be 80 mm or 122mm wide and not higher than 198 mm.


If you include figures that have already been published elsewhere, you must obtain permission from the copyright owner(s) for both the print and online format. Please be aware that some publishers do not grant electronic rights for free and that Springer will not be able to refund any costs that may have occurred to receive these permissions. In such cases, material from other sources should be used.


In order to give people of all abilities and disabilities access to the content of your figures, please make sure that

  • ・All figures have descriptive captions (blind users could then use a text-to speech software or a text-to-Braille hardware)
  • ・Patterns are used instead or in addition to colors for conveying information (color-blind users would then be able to distinguish the visual elements)
  • ・Any figure lettering has a contrast ratio of at least 4.5:1.

After acceptance

Upon acceptance of your article you will receive a link to the special Author Query Application at Springer’s web page where you can sign the Copyright Transfer Statement online and indicate whether you wish to order OpenChoice, offprints, or printing of figures in color. Once the Author Query Application has been completed, your article will be processed and you will receive the proofs.

Open Choice

In addition to the normal publication process (whereby an article is submitted to the journal and access to that article is granted to customers who have purchased a subscription), Springer provides an alternative publishing option: Springer Open Choice. A Springer Open Choice article receives all the benefits of a regular subscription-based article, but in addition is made available publicly through Springer’s online platform SpringerLink. We regret that Springer Open Choice cannot be ordered for published articles.
Springer Open Choice []

Copyright transfer

Authors will be asked to transfer copyright of the article to the International Society on Artificial Life and Robotics.


Offprints can be ordered by the corresponding author

Color illustrations

Online publication of color illustrations is free of charge. For color in the print version, authors will be expected to make a contribution towards the extra costs.

Proof reading

The purpose of the proof is to check for typesetting or conversion errors and the completeness and accuracy of the text, tables and figures. Substantial changes in content, e.g., new results, corrected values, title and authorship, are not allowed without the approval of the Editor.
After online publication, further changes can only be made in the form of an Erratum, which will be hyperlinked to the article.

Online First

The article will be published online after receipt of the corrected proofs. This is the official first publication citable with the DOI. After release of the printed version, the paper can also be cited by issue and page numbers.

Publication Fee

In order to publish your paper, the payment of a "Publication Fee" is required. It is the author's share of the production costs incurred by the AROB Journal Office. After your paper has been published in the Journal of Artificial Life and Robotics, the AROB Journal Office will send you an invoice with the total amount due, including the cost of shipping. The fee needs to be paid by credit card or bank transfer after the publication. Please note that any bank fees or commissions are your responsibility. One free issue of the journal in which your paper has been published will also be shipped to the recipient of the invoice.

Publication FeeUp to 5 pages80,000 JPY
Extra page charge16,000 JPY/page
Shipping CostDomestic700 JPY/delivery
International*Please see the following table for the details.
Extra copies (Option)-5,000 JPY/issue
Shipping FeeRegion
JapanChina, South Korea, TaiwanAsia (excluding China, South Korea, Taiwan)Oceania, Canada, Mexico, Middle East, EuropeU.S. (including Guam and other U.S. territories)Central and South America (excluding Mexico), Africa
Number of books00
  • * The final number of pages your paper will occupy in the journal will be determined by the publisher after proofreading.
  • * If the remittance is overdue, the rate of 14.6% of the publication fee will be added to the original cost.
  • * Extra copies for your co-authors are available at 5,000 JPY per issue.
  • * 10% consumption tax will be added to the fees if the paper is submitted from Japan.
  • * These prices are subject to change.

Dear authors who belong to institutions outside Japan,

Please note the following differences:

  • * The publication fee will be charged before the publication of your paper in our Journal.
  • * The publication fee will be calculated based on the number of pages in your manuscript. If the manuscript is written in MS Word, two pages will be added to the calculation. Once the AROB Journal Office confirmed your payment, your manuscript will be sent to the Springer.
  • * Only credit card payment is accepted. The AROB Journal Office will issue an online invoice through Square ( If the payment fails with Square, the invoice for bank transfer may be issued. In that case, a bank commission of 4,000 JPY will be added to your invoice.

Please note that if you select the following options, additional charges will apply separately from the publication fee. Regarding the fees for these options, Springer will send an invoice to the author.

  • * Color Figures
  • * Open Access
  • * Offprints/Reprints
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