Skip to main content

Research Repository

Advanced Search

A Simple 3D-Only Evolutionary Bipedal System with Albatross Morphology for Increased Performance

Channon

A Simple 3D-Only Evolutionary Bipedal System with Albatross Morphology for Increased Performance Thumbnail


Authors



Abstract

Bipedal walking is a difficult behaviour to encode into an evolutionary neural network, particularly in three-dimensional environments. Agents must be constantly maintaining balance alongside their primary objectives. Here we re-implement a simple evolutionary bipedal system, achieving high fitness and stepping gaits in 3D without the preliminary 2D bootstrapping process required by the original work. This high-performing system, with its deliberately simple neurocontroller, provides an excellent foundation for the community to use for the evolution or learning of more complex behaviours in bipeds. We also investigate the effects of modified morphology with the system, significantly improving agent fitness by evolving networks alongside morphologies resembling a baby albatross. The agents with albatross morphologies travel up to three times further than default agents. We then test incrementally evolving agent morphology via the simultaneous evolution of a separate morphological genotype. We initialised this genotype either alongside a high-performing controller or from a completely random point in both fitness landscapes. Agents evolved from this random initialisation travel up to four times further than default agents. One randomly initialised incremental morphology also achieves gaits with significantly higher upper body and swing knee controller input weights than the default.

Acceptance Date Dec 1, 2020
Publication Date Dec 1, 2020
Journal 2020 IEEE Symposium Series on Computational Intelligence (SSCI)
Print ISSN 1556-603X
Publisher Institute of Electrical and Electronics Engineers (IEEE)
Pages 125-132
Series Title 2020 IEEE Symposium Series on Computational Intelligence (SSCI)
DOI https://doi.org/10.1109/SSCI47803.2020.9308500
Keywords Morphology, Legged locomotion, Three-dimensional displays, Actuators, Knee, Foot, Torque
Publisher URL https://ieeexplore.ieee.org/document/9308500

Files







You might also like



Downloadable Citations