The idea was to create an insect like creature that has a tail like a dog for balancing and two flexible parts in its body. It should also be looking around with its head. But for some reason this agent didn't evolve a highly interesting walking behaviour. We therefore designed another creature that has a less complex leg construction but still has a tail for balancing.

Population Size: 100

Generations: 500

Mutation Rate: 3.

Hidden Layer: 3

The insect like hexapod didnt' evolve a very good controller for the walking behaviour. The agent was able to move its legs onwards but it was quite slow and it looked like he was looking around for some other companions, we also tried to put more than one agent in the environment, but it just took a lot of time to calculate the neural controller. Increasing the motor speed and force helped to move it a bit faster, but the hexapod always had a problem with one middle leg. Another problem was also that its body segments were probably too flexible, so that the angles had to be adjusted.

We then tried different other hexapods with no knees, different types of feet and one that fits well in a box because of its shape. The best example is shown above. This one is able to move forward quickly in a dancing like way.