Evolution of central pattern generators for bipedal walking in a real-time physics environment
Authors:
- P. HusbandsPHP. Husbands
- 7 August 2002
- journal article
- Published by Institute of Electrical and Electronics Engineers (IEEE) in IEEE Transactions on Evolutionary Computation
- Vol. 6 (2) , 159-168
Abstract
We describe an evolutionary approach to the control problem of bipedal walking. Using a full rigid-body simulation of a biped, it was possible to evolve recurrent neural networks that controlled stable straight-line walking on a planar surface. No proprioceptive information was necessary in order to achieve this task. Furthermore, simple sensory input to locate a sound source was integrated to achieve directional walking. To our knowledge, this is the first work that demonstrates the application of evolutionary optimization to 3D physically simulated biped locomotion.Keywords
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