Abstract
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.
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Earon, E.J.P., Barfoot, T.D., D’Eleuterio, G.M.T. (2000). From the Sea to the Sidewalk: The Evolution of Hexapod Walking Gaits by a Genetic Algorithm. In: Miller, J., Thompson, A., Thomson, P., Fogarty, T.C. (eds) Evolvable Systems: From Biology to Hardware. ICES 2000. Lecture Notes in Computer Science, vol 1801. Springer, Berlin, Heidelberg. https://doi.org/10.1007/3-540-46406-9_6
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DOI: https://doi.org/10.1007/3-540-46406-9_6
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