GECCO '05 Proceedings of the 7th annual conference on Genetic and evolutionary computation
Genetic programming incorporating biased mutation for evolution and adaptation of Snakebot
Genetic Programming and Evolvable Machines
Genetic programming based automatic gait generation for quadruped robots
Proceedings of the 10th annual conference on Genetic and evolutionary computation
Autonomous Learning of Ball Trapping in the Four-Legged Robot League
RoboCup 2006: Robot Soccer World Cup X
Fitness functions in evolutionary robotics: A survey and analysis
Robotics and Autonomous Systems
Noisy Multiobjective Optimization on a Budget of 250 Evaluations
EMO '09 Proceedings of the 5th International Conference on Evolutionary Multi-Criterion Optimization
The sensitivity of HyperNEAT to different geometric representations of a problem
Proceedings of the 11th Annual conference on Genetic and evolutionary computation
Tree-structure-aware GP operators for automatic gait generation of quadruped robot
Proceedings of the 11th Annual Conference Companion on Genetic and Evolutionary Computation Conference: Late Breaking Papers
How robot morphology and training order affect the learning of multiple behaviors
CEC'09 Proceedings of the Eleventh conference on Congress on Evolutionary Computation
Evolving coordinated quadruped gaits with the HyperNEAT generative encoding
CEC'09 Proceedings of the Eleventh conference on Congress on Evolutionary Computation
CPG driven locomotion control of quadruped robot
SMC'09 Proceedings of the 2009 IEEE international conference on Systems, Man and Cybernetics
Evolving hardware using a new evolutionary algorithm based on evolution of a species
International Journal of Bio-Inspired Computation
The Stanford LittleDog: A learning and rapid replanning approach to quadruped locomotion
International Journal of Robotics Research
A review of gait optimization based on evolutionary computation
Applied Computational Intelligence and Soft Computing - Special issue on theory and applications of evolutionary computation
Coupled inverted pendulums: a benchmark for evolving decentral controllers in modular robotics
Proceedings of the 13th annual conference on Genetic and evolutionary computation
Optimizing ballast design of wave energy converters using evolutionary algorithms
Proceedings of the 13th annual conference on Genetic and evolutionary computation
Proceedings of the 13th annual conference companion on Genetic and evolutionary computation
A biologically inspired approach to feasible gait learning for a hexapod robot
International Journal of Applied Mathematics and Computer Science - Computational Intelligence in Modern Control Systems
EvoApplicatons'10 Proceedings of the 2010 international conference on Applications of Evolutionary Computation - Volume Part I
Efficient neuroevolution for a quadruped robot
SEAL'12 Proceedings of the 9th international conference on Simulated Evolution and Learning
EvoApplications'13 Proceedings of the 16th European conference on Applications of Evolutionary Computation
Toward automatic gait generation for quadruped robots using cartesian genetic programming
EvoApplications'13 Proceedings of the 16th European conference on Applications of Evolutionary Computation
Behavioral repertoire learning in robotics
Proceedings of the 15th annual conference on Genetic and evolutionary computation
High resilience in robotics with a multi-objective evolutionary algorithm
Proceedings of the 15th annual conference companion on Genetic and evolutionary computation
Fast damage recovery in robotics with the T-resilience algorithm
International Journal of Robotics Research
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A challenging task that must be accomplished for every legged robot is creating the walking and running behaviors needed for it to move. In this paper we describe our system for autonomously evolving dynamic gaits on two of Sony's quadruped robots. Our evolutionary algorithm runs on board the robot and uses the robot's sensors to compute the quality of a gait without assistance from the experimenter. First, we show the evolution of a pace and trot gait on the OPEN-R prototype robot. With the fastest gait, the robot moves at over 10 m/min, which is more than forty body-lengths/min. While these first gaits are somewhat sensitive to the robot and environment in which they are evolved, we then show the evolution of robust dynamic gaits, one of which is used on the ERS-110, the first consumer version of AIBO.