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.