Evolution of dynamic gaits for a robot

Abstract

An evolutionary algorithm is used to evolve dynamic gaits for the Sony pet-type robot and for AIBO(R). All processing is handled by the robots' on-board computer with individuals evaluated using the robots' sensors. Our implementation successfully evolves trot and pace gaits for which the pace gait significantly outperforms previous hand-developed gaits. Using this technique we evolved the trot gait used in the consumer version of AIBO.