Coordination of leg movement in walking animals
Proceedings of the first international conference on simulation of adaptive behavior on From animals to animats
Automatic definition of modular neural networks
Adaptive Behavior
Genetic Algorithms in Search, Optimization and Machine Learning
Genetic Algorithms in Search, Optimization and Machine Learning
Introduction to Reinforcement Learning
Introduction to Reinforcement Learning
Running Across the Reality Gap: Octopod Locomotion Evolved in a Minimal Simulation
Proceedings of the First European Workshop on Evolutionary Robotics
Evolving Globally Synchronized Cellular Automata
Proceedings of the 6th International Conference on Genetic Algorithms
Theory of Self-Reproducing Automata
Theory of Self-Reproducing Automata
A biological perspective on autonomous agent design
Robotics and Autonomous Systems
| Hi-index | 0.00 |
A simple evolutionary approach to developing walking gaits for a legged robot is presented. Each leg of the robot is given its own controller in the form of a cellular automaton which serves to arbitrate between a number of fixed basis behaviours. Local communication exists between neighbouring legs. Genetic algorithms search for cellular automata whose arbitration results in successful walking gaits. An example simulation of the technique is presented as well as results of application to Kafka, a hexapod robot.