Evolution of dynamic gaits for a robot

@article{Takamura2000EvolutionOD,
  title={Evolution of dynamic gaits for a robot},
  author={Seiichi Takamura and Garry Hornby and Tatsuo Yamamoto and Jun Yokono and Masatoshi Fujita},
  journal={2000 Digest of Technical Papers. International Conference on Consumer Electronics. Nineteenth in the Series (Cat. No.00CH37102)},
  year={2000},
  pages={192-193}
}
An evolutionary algorithm is used to evolve dynamic gaits for the Sony pet-type robot and for AIBO(R). All processing is handled by the robots' on-board computer with individuals evaluated using the robots' sensors. Our implementation successfully evolves trot and pace gaits for which the pace gait significantly outperforms previous hand-developed gaits. Using this technique we evolved the trot gait used in the consumer version of AIBO. 
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