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        Evolving Sims's creatures for bipedal gait

        Author
        Azarbadegan, A.
        Broz, F.
        Nehaniv, C.L.
        Attention
        2299/6953
        Abstract
        In this paper we describe the design of an approach to evolve Sims's creatures with morphology and behaviour similar to biped animals. Our hypothesis is that biases in morphology that encourage limb specialisation, combined with rewards for successful locomotion and carrying at the same time and realistic, physics-based penalties for falling in fitness function, would lead to creatures capable of bipedal locomotion. We present experimental results demonstrating successful evolution of biped morphology and stepping gait.
        Publication date
        2011-01-01
        Published in
        IEEE SSCI 2011 - Symposium Series on Computational Intelligence - IEEE ALIFE 2011: 2011 IEEE Symposium on Artificial Life
        Published version
        https://doi.org/10.1109/ALIFE.2011.5954662
        Other links
        http://hdl.handle.net/2299/6953
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