enso-robots
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Gaits of controllers produced by ENSO on flat ground. Both controllers in this video start moving with a pronk gait, which soon transitions into a trot and bound, respectively. Evolving the symmetries of the controllers systematically makes it possible for ENSO to produce such animal-like gaits with well-synchornized legs. These gaits are similar to those produced by controllers with handdesigned S4 and D2 symmetries.

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