Evolving Dynamic Gaits on a Physical Robot

摘要

Abstract. Here we introduce a method for the evolution of dynamic gaits on a physical robot requiring no prior assumptions about the locomotion pattern beyond the fact that it should be rhythmic. The dynamic gaits were physically evolved in hardware using a parallel-actuated pneumatic robot. We have formulated a genetic algorithm that evolves open-loop controllers; the encoding allows evolution to shape both the speed and pattern of locomotion while ensuring rhythmicity. In future, we plan to evolve closed-loop controllers for the physical robot and integrate our previously developed methods to reduce the number of hardware trials. 1