Evolving coordinated quadruped gaits with the HyperNEAT generative encoding

@article{Clune2009EvolvingCQ,
  title={Evolving coordinated quadruped gaits with the HyperNEAT generative encoding},
  author={Jeff Clune and Benjamin E. Beckmann and Charles Ofria and Robert T. Pennock},
  journal={2009 IEEE Congress on Evolutionary Computation},
  year={2009},
  pages={2764-2771}
}
Legged robots show promise for complex mobility tasks, such as navigating rough terrain, but the design of their control software is both challenging and laborious. Traditional evolutionary algorithms can produce these controllers, but require manual decomposition or other problem simplification because conventionally-used direct encodings have trouble taking advantage of a problem's regularities and symmetries. Such active intervention is time consuming, limits the range of potential solutions… 

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