Kou, Kinyo, and Yoichiro Kawaguchi. “Emergent gait evolution of quadruped artificial life.” In International Conference on Advances in Computer Entertainment Technology , pp. 287-296. Springer, Berlin, Heidelberg, 2012.
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We developed a simulation model and generated a gait pattern for quadruped artificial life. The model is based on three dimensional physical simulation using a physics engine. Neural networks are used to control each leg, and the genetic algorithm is used to evolve the gait. The generated gait pattern is similar to the gait called “walk” in real-world animals. An analysis is conducted of the developing gait pattern, in addition to the final result. The emergent walk-like gait is similar to a newborn baby crawling on the floor, and it would appear that the artificial life struggles to go straight ahead on the midway of evolution.