The videos below are discussed in the GECCO 2013 conference paper, Single-Unit Pattern Generators for Quadruped Locomotion .
CTRNN walker - best training performance
VIDEO
The overall champion from all 20 runs on the CTRNN architecture is shown. It walks 7.63m in the training period and 36.90m in the 5 minute trial.
sine wave walker - best training performance
VIDEO
The overall champion from all 20 runs on the sine wave architecture is shown. It walks 7.83m in the training period and 11.51m in the 5 minute trial.
SUPG walker - best training performance
VIDEO
The overall champion from all 20 runs on the SUPG architecture is shown. It walks 11.71m in the training period and 84.10m in the 5 minute trial.
This individual displays the walking gait.
SUPG walker - pace gait
VIDEO
This individual, who was evolved on the SUPG architecture, displays the pace gait.
SUPG walker - trot gait
VIDEO
This individual, who was evolved on the SUPG architecture, displays the trot gait.
SUPG walker - three hour walker
VIDEO
This individual is still walking after three hours of testing, even though training trials are only 15 seconds long.