Abstract
The flying creatures which have wings, such as the bird and part of the insects, take the complex motions. For example, the eagle circles over the upper air with no wing motion, and the bee has wings moving very quickly to hover over the flower. The purpose of our research is to analyze these complex motions of the flying creatures through the computer simulation. To simulate the motion of creatures we use the virtual environment. It consists of the physical engine library, which processes the motion and collision of rigid bodies, and the drag force expressing the force from a fluid. The creatures receive the sensor signals from the environment and output the torques to move their bodies according to the signals. We use the artificial neural network (ANN) as the controller converting the input into the output. Changing the weights of ANN using the real coded genetic algorithm, we evolve the creatures to acquire the complex behavior.
