The videos below are discussed in the GECCO 2013 conference paper, Single-Unit Pattern Generators for Quadruped Locomotion.


CTRNN walker - best training performance


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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


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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


Download movie of SUPG walker - best training performance(AVI)


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


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This individual, who was evolved on the SUPG architecture, displays the pace gait.



SUPG walker - trot gait


Download movie of SUPG walker - trot gait(AVI)


This individual, who was evolved on the SUPG architecture, displays the trot gait.



SUPG walker - three hour walker



This individual is still walking after three hours of testing, even though training trials are only 15 seconds long.