I am working on a project but I lack advanced programming knowledge, especially about genetic algorithms. I am developing a prototype using WEBOTS 7.4.3 for the simulation. The project is to use genetic algorithms to evolve the gait of a biped robot. I have developed a physical model, but I am still uncertain about the motor choice. For the algorithm part, I find it hard to understand how to set the algorithm parameters and how to determine the fitness function. Could you please suggest a fitness function?

Thank you for your help and efforts.

  • $\begingroup$ I understand what your project is about, but I don't understand your question. $\endgroup$ – marcv81 Oct 13 '14 at 23:07
  • $\begingroup$ sorry, in this project my task is to develop the algorithm. Can you explain or give suggestion about the parameter and fitness for biped robot. $\endgroup$ – Atoy Oct 14 '14 at 13:07
  • $\begingroup$ I have answered about the fitness function. The algorithm parameters depend on the genetic representation of your solution domain. Are you going for a neural network? $\endgroup$ – marcv81 Oct 14 '14 at 14:22
  • $\begingroup$ Well I'am new here, could you give a link that you answers or make discussion here would be nice. Actually, this project just focusing on genetic algorithm. If you could giving answer for neural network would be better for the comparison in our project $\endgroup$ – Atoy Oct 14 '14 at 14:34
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    $\begingroup$ hahaha sorry about vocab $\endgroup$ – Atoy Oct 14 '14 at 16:53

If you're only trying to walk forward the fitness function could be the distance covered by the biped. If you're also trying to control the heading, you could define a slightly more complex function which correlates the covered distance and the heading input.

  • $\begingroup$ I would love to know the reason why this answer was downvoted please. That way I could make the next answers better! $\endgroup$ – marcv81 Oct 17 '14 at 9:11

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