Genetic Algorithm for Slithering and Sidewinding creatures

Python, MuJoCo, Machine Learning, Nonlinear Optimization, Controls



Overview



Personal Motivation


Creature Specifications

Phenotype

  1. Model:



  1. Control:



Genotype

  1. Body Plan:

  2. Pace:

  3. Joint Range:

  4. Strength:

Hyperparameters


Evolution

1. Initialization



2. Selection

3. Crossover

4. Mutation


Results

Fitness over generations

  1. Slithering



Fig. 1. Progression of fitness over generations resulting in slithering


  1. Sidewinding



Fig. 2. Progression of fitness over generations resulting in sidewinding


“Cheaters”

  1. Rolling:


  1. Flying


References

  1. Inertial-stabilized CPG with full SE(3) body pose control for locomotion, climbing, and payload balancing in extreme terrains

This Post is under construction 🛠️

Building a perfect portfolio from the ground up is a demanding process. Over the coming weeks, I will be adding more information about my personal and professional projects. If you’re interested, please check back on July 30th, 2024. Your curiosity is greatly appreciated :)

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