Evolution of locomotion in a simulated quadruped robot and transferral to reality
نویسندگان
چکیده
In this paper, we study the suitability of using simulation in the evolution of locomotion in a quadruped robot. The goal of the evolution is to design a control system that produces fast gaits. We evolve gaits in simulation, and then the best controllers are transferred into the real custom built robot and compared with their simulated versions. The results show effective locomotion, with a 1.8 times improvement in speed over earlier results. Finally, we investigate some measures to reduce the difference between simulated and real locomotion.
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