Gait Learning

Directed Locomotion for Modular Robots with Evolvable Morphologies

Morphologically evolving robot systems need to include a learning period right after ‘birth' to acquire a controller that fits the newly created body. In this paper, we investigate learning one skill in particular: walking in a given direction. To …

Acquiring Moving Skills in Robots with Evolvable Morphologies : Recent Results and Outlook

We construct and investigate a strongly embodied evolutionary system, where not only the controllers but also the morphologies undergo evolution in an on-line fashion. In these studies, we have been using various types of robot morphologies and …

Benefits of Lamarckian Evolution for Morphologically Evolving Robots

Implementing lifetime learning by means of on-line evolution, we establish an indirect encoding scheme that combines Compositional Pattern Producing Networks (CPPNs) and Central Pattern Generators (CPGs) as a relevant learner and controller for …