View Full Version : Embodied Evolution on a Modular Robot

10-21-2015, 08:10 PM
Onboard evolution of locomotion on a 2D modular robotic organism. The controller is a simple sinusoidal oscillator, per module. Amplitude, offset, phase angle of each module's controller, and a common frequency parameter is optimized using Genetic Algorithm. The optimization is performed on the real robot, where in each candidate solution (a set of sinusoidal oscillator parameters) are evaluated on the physical robot. The fitness function is the absolute distance traveled by the robot in a fixed amount of time, which is calculated with help of a overhead webcam and the color marker placed on the robot.

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