Controller

Posted in gait by cheng on February 4, 2010

When Dash robot was shown in CMU, I was amazed on how well the little one with just the physical design.

I read this from Brian Scaz’s note on Three Classes of Evolved
Controllers today ( and exclaim once more about MIT, after Karl Sims and Arthur Ganson)

• If sensors were enabled during evolution,
then reflexive pattern generators evolved
– Without sensors, these patterns fail
• If sensors were disabled during evolution,
central pattern generators evolved
– Generates pattern without sensory input
• If sensors were unreliable during evolution,
then mixed pattern generators evolved
– Worked better with sensors enabled
– Capable of operating on their own

Taxonomy of Fixed Points