Learning Directed Locomotion in Modular Robots with Evolvable Morphologies

Abstract
We generalize the well-studied problem of gait learning in modular robots in two dimensions. Firstly, we address locomotion in a given target direction that goes beyond learning a typical undirected gait. Secondly, rather than studying one fixed robot morphology we consider a test suite of different modular robots. This study is based on our interest in evolutionary robot systems where both morphologies and controllers evolve. In such a system,...
Paper Details
Title
Learning Directed Locomotion in Modular Robots with Evolvable Morphologies
Published Date
Jan 21, 2020
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