Genetic programming: on the programming of computers by means of natural selection
Genetic programming: on the programming of computers by means of natural selection
Genetic programming and emergent intelligence
Advances in genetic programming
Biologically Inspired Robots: Serpentile Locomotors and Manipulators
Biologically Inspired Robots: Serpentile Locomotors and Manipulators
Generality and Difficulty in Genetic Programming: Evolving a Sort
Proceedings of the 5th International Conference on Genetic Algorithms
Limbless locomotion: learning to crawl with a snake robot
Limbless locomotion: learning to crawl with a snake robot
EuroGP'05 Proceedings of the 8th European conference on Genetic Programming
IEEE Transactions on Robotics
Genetic programming and evolutionary generalization
IEEE Transactions on Evolutionary Computation
Multiobjectivity and Complexity in Embodied Cognition
IEEE Transactions on Evolutionary Computation
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In this work we consider the generality of locomotion gaits of simulated snake-like robot (Snakebot), adapted (via genetic programming, GP) to both (i) a challenging terrain and (ii) a partial mechanical damage. Discussing the emergence of common traits in these gaits, we elaborate on the strong correlation between their respective genotypes. We experimentally verify the generality of the adapted gaits in different “unexpected” environmental conditions and for various mechanical failures of the Snakebots. From an engineering standpoint, we suppose that in response to an eventual degradation of velocity, the Snakebot might activate a general locomotion gait, without the need to diagnose and treat the concrete underlying reason for such degradation. We view this work as a step towards building real Snakebots, which are able to perform robustly in difficult environment.