On-Line Evolution of Control for a Four-Legged Robot Using Genetic Programming

Authors:
Björn Andersson;Per Svensson;Mats G. Nordahl;Peter Nordin
Affiliations:
-;-;-;-
Venue:
Real-World Applications of Evolutionary Computing, EvoWorkshops 2000: EvoIASP, EvoSCONDI, EvoTel, EvoSTIM, EvoROB, and EvoFlight
Year:
2000

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Abstract

We evolve a robotic controller for a four-legged real robot enabling it to walk dynamically. Evolution is performed on-line by a linear machine code GP system. The robot has eight degrees of freedom and is built from standard R/C servos. Different walking strategies are shown by the robot during evolution and the evolving system is robust against mechanical failures.