Action acquisition of multi-legged artificial creatureon the basis of physics modeling

Abstract

This study attempts to acquire autonomous behaviors on an artificial creature with multi-legs. We adopted physics modeling to represent the artificial creature in a virtual environment governed by the physics low. The model is equipped with actuator, controller, and self-evolution mechanism. Simulation results show the creature successfully acquires harmonious walking. Furthermore, we discuss the obtained behaviors by comparing with a real multi-legged organism.