In all these cases a method of automatically creating, or adapting, gaits is a useful tool. An evolutionary algorithm is used to evolve controllers for the robot. A trial consists of running torwards one end of the pen. Score is a function of average velocity and straightness. The robot uses its own sensors to evaluate individuals.
Fitness is the average over three trials.
Results Animations are under construction. Evolving on a flat surface. Results from evolution on a flat surface. Results from evolution on a surface with ridges. Evolving Robust Gaits with AIBO .