Tham khảo tài liệu 'evolutionary robotics part 14', kỹ thuật - công nghệ, cơ khí - chế tạo máy phục vụ nhu cầu học tập, nghiên cứu và làm việc hiệu quả | 512 Frontiers in Evolutionary Robotics Figure 17 Sequence of the oscillation obtained in simulation for the J1 joint type. The robot is lying on its back to allow a free movement of the joint. The evolution of the other joint types was performed with the same setup and similar behaviors were observed Fourth stage coupling between types of joints The last stage is the coupling between the three groups of neural controllers obtained. From the previous stage three different oscillating modular controllers were obtained one per joint type with four joints of the same type oscillating together with a walking phase relationship. It is now required to interconnect the three layers in order to obtain a coordination between the different joint types that enables the robot to walk and completes the architecture as a whole. The next step will be the evolution of the connections between the three groups of controllers. In terms of walking connection between groups should produce coordination between the different types of joints that have been evolved separately. The connection between the three groups of controllers implies that 16 new inputs will be added to each IHU neural module. Those inputs represent the connection to the other 16 modules of the other two groups. Only those connections between groups are evolved to generate the required coordination between the groups for the generation of a stable walking. On a first approach we tried to evolve the coordination between groups with a simple fitness function composed of the distance walked by the robot. However the walking behavior obtained by that approach even if correct was very sudden and induced instabilities that made sometimes the robot fall. Analyzing the behavior obtained we observed that the coordination between groups was correctly achieved but some of the joints had loose their oscillation pattern. Because of that a new fitness function was proposed were the oscillation of the joints was still imposed together
