Automatic Generation of Control Programs for Walking Robots Using Genetic Programming

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Jens Busch, Jens Ziegler, Christian Aue, Andree Roß, Daniel Sawitzki, Wolfgang Banzhaf

Published: 2002, Last Modified: 28 Feb 2026EuroGP 2002EveryoneRevisionsBibTeXCC BY-SA 4.0
Abstract: We present the system SIGEL that combines the simulation and visualization of robots with a Genetic Programming system for the automated evolution of walking. It is designed to automatically generate control programs for arbitrary robots without depending on detailed analytical information of the robots ’kinematic structure. Different fitness functions as well as a variety of parameters allow the easy and interactive configuration and adaptation of the evolution process and the simulations.