Abstract
We demonstrate the power of evolutionary robotics (ER) by comparing to a more traditional approach its performance and cost on the task of simulated robot locomotion. A novel quadruped robot is presented, the legs of which – each having three non-coplanar degrees of freedom – are very maneuverable. Using a simplistic control architecture and a physics simulation of the robot, gaits are designed both by hand and using a highly parallel evolutionary algorithm (EA). It is found that the EA produces, in a small fraction of the time that takes to design by hand, gaits that travel at nearly twice the speed of the hand-designed one.
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Klaus, G., Glette, K., Høvin, M. (2012). Evolving Locomotion for a Simulated 12-DOF Quadruped Robot. In: Lones, M.A., Smith, S.L., Teichmann, S., Naef, F., Walker, J.A., Trefzer, M.A. (eds) Information Processign in Cells and Tissues. IPCAT 2012. Lecture Notes in Computer Science, vol 7223. Springer, Berlin, Heidelberg. https://doi.org/10.1007/978-3-642-28792-3_13
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DOI: https://doi.org/10.1007/978-3-642-28792-3_13
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