Evolving virtual creatures and catapults
Evolving virtual creatures and catapults
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DOI：
10.1162/artl.2007.13.2.139
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发表时间：
2007-03-01
期刊：
影响因子：
2.6
通讯作者：
Adami, Christoph
中科院分区：
文献类型：
--
作者：
Chaumont, Nicolas;Egli, Richard;Adami, Christoph
提出了一种基于遗传算法的虚拟行走投块生物（弹射器）形态学和控制器进化系统。该系统基于Sims的工作，作为一个灵活的平台，使用现成的动态引擎实现。实验旨在进化模拟类型的步行者，结果出现了各种逼真的步态，而使用相当简单的目标函数。由于系统的灵活性，在对系统和目标功能进行微小修改的情况下，可以产生截然不同的形态和功能。例如，在选择弹射器时，各种投掷技术都在不断发展，以尽可能地推动一个方块。在进化的策略和形态中，我们发现了落踢策略，以及系统地发明了车轮背后的原理，允许抛射物发生突变。
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.