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  • - Evolution of Biped Walking
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Project Simloid -
Evolution of Biped Walking

Biped Walking is a complex and open problem. The Simloid simulation environment is applied for exploring and optimizing new walking pattern for the Bioloid's robot, using artificial evolution. This page shows some results of those evolved walking patterns.

Evolution Samples (Periodic Functions)

Walking N1
(Vel: ~0.20m/s)

AVI (mpeg4v2), 0:43min, 4.4MB

Walking N2
(Vel: ~0.41m/s)

AVI (mpeg4v2), 0:53min, 5.3MB

Walking N3  
(Vel: ~0.21m/s)

AVI (mpeg4v2), 1:02min, 6.2MB

Walking N3 (Arms down)  
(Vel: ~0.26m/s)

AVI (mpeg4v2), 0:57min, 5.7MB

Sidewards N2
(Vel: ~0.15m/s)

AVI (mpeg4v2), 0:25min, 2.6MB

Turn N3
(Vel: ~15°/s)

AVI (mpeg4v2), 0:45min, 4.5MB

Evolution Samples (Neural Oscillators)

Hobble Walking  
(Vel: ~0.07m/s)

AVI (mpeg4v2), 0:42min, 7.6MB

Spectecular Walking
(Vel: ~0.10m/s)

AVI (mpeg4v2), 0:49min, 9.1MB

Proud Walking
(Vel: ~0.15m/s)

AVI (mpeg4v2), 0:32min, 6.0MB

Storky Walking  
(Vel: ~0.35m/s)

AVI (mpeg4v2), 0:40min, 7.4MB

Ducked Walking
(Vel: ~0.40m/s)

AVI (mpeg4v2), 0:37min, 6.9MB

Best Walking
(Vel: ~0.50m/s)

AVI (mpeg4v2), 0:37min, 6.8MB

Transfer to real robot

Neural Oscillator, Try 1  

AVI (mpeg4v2), 0:11min, 1.2MB

Neural Oscillator, Try 2

AVI (mpeg4v2), 0:23min, 2.4MB

Neural Oscillator, Try 3

AVI (mpeg4v2), 0:25min, 2.6MB

Neural Oscillator, Try 4  

AVI (mpeg4v2), 0:34min, 3.4MB

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