We present a system that can evolve the morphology and the controller of virtual walking and block-throwing creatures (catapults) using a genetic algorithm. The system is based on Sims' work, implemented as a flexible platform with an off-the-shelf dynamics engine. Experiments aimed at evolving Sims-type walkers resulted in the emergence of various realistic gaits while using fairly simple objective functions. Due to the flexibility of the system, drastically different morphologies and functions evolved with only minor modifications to the system and objective function. For example, various throwing techniques evolved when selecting for catapults that propel a block as far as possible. Among the strategies and morphologies evolved, we find the drop-kick strategy, as well as the systematic invention of the principle behind the wheel, when allowing mutations to the projectile.
Abstract. This paper describes a framework for the speci cation and manipulation of models of systems. The systems are modelled within this framework using chain models, which permit the speci cation and manipulation of attributes associated with the topological elements of the systems. The paper provides a formalism which modi es and extends an already-existing formalism, and, also, a practical software kernel with a convenient Application Programming Interface API. Examples of system speci cation using the API are given, to illustrate that quite complicated systems can bemodelled in a clear and concise way by means of the chain-model approach.
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