Abstract
Many studies have been done on autonomous locomotion robots based on physics modeling. However, most of them concern on walking and swimming locomotion and there are few studies of walking locomotion on an irregular ground. In this study, we focus on the autonomous behavior of animal walking locomotion on an uphill road and the downhill road. We applied Genetic Algorithm (GA) and Artificial Neural Network (ANN) to acquire the animal's autonomous behavior on the irregular ground based on physics modeling and verified that a suitable behavior can be acquired through numerical experiments.
