University of Hertfordshire

Evolving Sims's creatures for bipedal gait

Research output: Chapter in Book/Report/Conference proceedingConference contribution

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Original languageEnglish
Title of host publicationIEEE SSCI 2011 - Symposium Series on Computational Intelligence - IEEE ALIFE 2011: 2011 IEEE Symposium on Artificial Life
Number of pages7
ISBN (Print)978-161284063-5
Publication statusPublished - 1 Jan 2011
EventIEEE ALIFE 2011 - Paris, France
Duration: 11 Apr 201115 Apr 2011


ConferenceIEEE ALIFE 2011


In this paper we describe the design of an approach to evolve Sims's creatures with morphology and behaviour similar to biped animals. Our hypothesis is that biases in morphology that encourage limb specialisation, combined with rewards for successful locomotion and carrying at the same time and realistic, physics-based penalties for falling in fitness function, would lead to creatures capable of bipedal locomotion. We present experimental results demonstrating successful evolution of biped morphology and stepping gait.


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