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
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Walking N2
(Vel: ~0.41m/s)

AVI (mpeg4v2), 0:53min, 5.3MB
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Walking N3
(Vel: ~0.21m/s)

AVI (mpeg4v2), 1:02min, 6.2MB
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Walking N3 (Arms down)
(Vel: ~0.26m/s)

AVI (mpeg4v2), 0:57min, 5.7MB
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Sidewards N2
(Vel: ~0.15m/s)

AVI (mpeg4v2), 0:25min, 2.6MB
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Turn N3
(Vel: ~15°/s)

AVI (mpeg4v2), 0:45min, 4.5MB
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Evolution Samples (Neural Oscillators)
Hobble Walking
(Vel: ~0.07m/s)

AVI (mpeg4v2), 0:42min, 7.6MB
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Spectecular Walking
(Vel: ~0.10m/s)

AVI (mpeg4v2), 0:49min, 9.1MB
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Proud Walking
(Vel: ~0.15m/s)

AVI (mpeg4v2), 0:32min, 6.0MB
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Storky Walking
(Vel: ~0.35m/s)

AVI (mpeg4v2), 0:40min, 7.4MB
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Ducked Walking
(Vel: ~0.40m/s)

AVI (mpeg4v2), 0:37min, 6.9MB |
Best Walking
(Vel: ~0.50m/s)

AVI (mpeg4v2), 0:37min, 6.8MB
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Transfer to real robot
Neural Oscillator, Try 1

AVI (mpeg4v2), 0:11min, 1.2MB
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Neural Oscillator, Try 2

AVI (mpeg4v2), 0:23min, 2.4MB
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Neural Oscillator, Try 3

AVI (mpeg4v2), 0:25min, 2.6MB
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Neural Oscillator, Try 4

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