| Introduction | Previous Works | Implementation/Results | Conclusion | Impressum | References |
| Bi-ped: | |
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| Idea: | Designing an agent with only two legs might be a difficult task - especially balancing its own body and thereby not falling over. First of all we tried to design a human like agent, because human beings walk on two legs. The result of this first experiment was a high-jumping creature that couldn't balance its body at all. That's why we tried a new approach to solve the balancing problem: The idea was to design a creature with a stable body of different spheres and two long legs which the agent should be able to flip over to inch on with. |
| Task: | The agent should evolve a swimming like behaviour (flipping over with its legs) to move on quickly. |
| Properties: | Population Size: 100 Generations: 500 Mutation Rate: 3.0 Hidden Layers: 2 |
| Animated: |  |
| Construction/ Problems: |
The first creature we designed managed very easily to flip over one leg towards a light sours, but we wanted to make it move for a longer time. We tried several more examples and succeded to build a creature which evolved a nice swimming like behaviour. But we had to turn on many motors at the back end of the creature. The two last spheres have a quite strong motor to keep the bi-ped balanced in a forward direction while the legs are flipping over. We decided to create a flexible head which is not directly connected to the body and therefore has the ability to jump up and down like a ping-pong ball. This helped to bring motion into the agent's behaviour. Before that, the head was sort of stopping the whole creature. |
| Other Example: |  |