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Evolution of central pattern generators for bipedal walking in a real-time physics environment

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2 Author(s)
Reil, T. ; Dept. of Zoology, Oxford Univ., UK ; Husbands, P.

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

Published in:

Evolutionary Computation, IEEE Transactions on  (Volume:6 ,  Issue: 2 )

Date of Publication:

Apr 2002

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