Evolving soft robotic locomotion in PhysX

摘要

Given the complexity of the problem, genetic algorithms are one of the more promising methods of discovering control schemes for soft robotics. Since physically embodied evolu-tion is time consuming and expensive, an outstanding chal-lenge lies in developing fast and suitably realistic simulations in which to evolve soft robot gaits. We describe two parallel methods of using NVidia’s PhysX, a hardware-accelerated (GPGPU) physics engine, in order to evolve and optimize soft bodied gaits. The first method involves the evolution of open-loop gaits using a reduced-order lumped parame-ter model. The second method involves harnessing PhysX’s soft-bodied material simulation capabilites. In each case we discuss the the challenges and possibilities involved in using the PhysX for evolutionary soft robotics.