Evolving Autonomous Biped Control from Simulation to Reality

Abstract

Transferring an evolved control system from a simulated environment to the physical world poses a number of challenges. The difficulty in accomplishing such a task increases the complexity of the system that is being simulated and controlled increases. One of the most challenging control tasks is to generate a stable walking gait for a bipedal robot. This article describes a method in which a simulated control system for a small humanoid robot is evolved and transferred to robot hardware.