Emergent generality of adapted locomotion gaits of simulated snake-like robot

Abstract

In this work we consider the generality of locomotion gaits of simulated snake-like robot (Snakebot), adapted (via genetic programming, GP) to both (i) a challenging terrain and (ii) a partial mechanical damage. Discussing the emergence of common traits in these gaits, we elaborate on the strong correlation between their respective genotypes. We experimentally verify the generality of the adapted gaits in different "unexpected" environmental conditions and for various mechanical failures of the Snakebots. From an engineering standpoint, we suppose that in response to an eventual degradation of velocity, the Snakebot might activate a general locomotion gait, without the need to diagnose and treat the concrete underlying reason for such degradation. We view this work as a step towards building real Snakebots, which are able to perform robustly in difficult environment. © Springer-Verlag Berlin Heidelberg 2006.