This paper describes an evolutionary simulation for goal-directed bipedal locomotion using a genetic algorithm. It includes tilt-sensors that adjust dynamic springs and point masses forming structures made of flexible tetrahedral modules. Chaotic dynamics from a central pattern generator are tamed and exploited by evolution. A mathematical representation of the vestibular sense of tilt is associated with arbitrary springs, enabling bipedalism. This sense is embodied and evolves with motor control.

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General Conference
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© 2023 Massachusetts Institute of Technology Published under a Creative Commons Attribution 4.0 International (CC BY 4.0) license
2023
Massachusetts Institute of Technology
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Issue Section:
General Conference