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01:00
Modular: Quadruped Gaits
Trot, pronk, bound and pace gaits of a quadruped robot. These gaits were produced by modular neural network controllers evolved with different experimental settings. Thus, the proposed modular neuroevolution approach can produce a variety of symmetric and effective gaits similar to those seen in nature.
00:30
Modular: Hexapod Gaits
Wave-patterned gaits of a hexapod robot. Wave patterns move longitudinally along the robot body, producing gaits with same-row legs in phase or a half-period out of phase, which are effective and similar to the hexapod gaits in nature. This result shows that modular evolution scales up well when more legs are added to the robot.
01:00
Handdesigned: Obstacles
Hand-designed controller gets stuck on a terrain with obstacles. The robot is unable to get past the first or second bump, depending on how the legs initially hit the bumps. This result shows that it is hard to design controllers that perform well on such difficult terrain.
01:00
Modular: Obstacles
Modular controller changes gaits while navigating bumps on a terrain with obstacles. Initially, the robot moves with a bound gait. When it encounters the first bump, its legs hitting that bump perturbs the dynamics of the controller. These perturbations cause the controller to transition to a trot gait, which allows the robot to step over the bumps. Thus, modular controllers have the flexibility and robustness necessary for navigating difficult terrain.
00:15
Nonmodular: Universal Joints
Non-modular controller for quadruped robot with universal joints. The legs appear disabled and poorly coordinated, resulting in a gait resembling that of crippled animals. Such asymmetric gaits are produced because non-modular evolution is unable to exploit the symmetry and regularity in the task.
00:15
Modular: Universal Joints
Modular controller for quadruped robot with universal joints. Universal joints have two angular degrees of freedom, allowing both forward-backward and sideways movements of the legs. Modular evolution scales up well to robots with such more complex joints, producing effective gaits such as the trot in this video.
