- author = "Graham F. Spencer",
- title = "Automatic generation of programs for Crawling and Walking",
- booktitle = "Advances in Genetic Programming",
- publisher = "MIT Press",
- editor = "Kenneth E. {Kinnear, Jr.}",
- year = "1994",
- chapter = "15",
- pages = "335--353",
- keywords = "genetic algorithms, genetic programming",
-
URL = "
http://www.amazon.co.uk/Advances-Genetic-Programming-Complex-Adaptive/dp/0262111888",
-
URL = "
http://cognet.mit.edu/sites/default/files/books/9780262277181/pdfs/9780262277181_chap15.pdf",
-
DOI = "
doi:10.7551/mitpress/1108.003.0021",
- size = "19 pages",
- abstract = "This chapter demonstrates the use of genetic programming to automatically create programs capable of walking. Our goal was to generate programs that enabled a six-legged insect to walk in a simulated environment. Furthermore, we wished to accomplish this goal using a minimum of a priori knowledge about the task of locomotion. In every trial of every experiment, genetic programming evolved programs capable of efficient walking. Moreover, the performance of the evolved programs was at least as good and often better than that of hand-generated programs. One feature of our solution was an extensive use of side-effecting functions; we show that such functions simplify the genetic programming paradigm and enable a more powerful machine model. We also introduce a new genetic operator, constant perturbation, that allows the genetic programming system to fine-tune floating-point constants as part of the selection process.",
-
notes = "Simulated six legged insect. GP set-leg function with
side effects. Worked! 25%constant perturbation
.9--1.1
Part of \cite{kinnear:book}",
