Evolution of Morphology and Behavior of Virtual Creatures

Evolution of Morphology and Behavior of Virtual Creatures: A Model based on Swarm Intelligence and Artificial Neural Networks.
Author: Juan Rada-Vilela, José Aguilar, Rubén Parma

ABSTRACT
This paper presents a research on evolution of morphology and behavior of virtual creatures in a virtual world physically realistic.
The morphology of creatures is formed by rigid bodies joined by spherical joints. Each rigid body has a sensor which measures orientation using quaternions, and an effector that exerts moments of force on its center of mass.
The behavior is modeled by an Artificial Neural Network which receives quaternions from all sensors and transmits the moment of force to be exerted by effectors. Its architecture emulates a central nervous system by linking the orientation of each rigid body before orchestrating motion.
Virtual creatures are evolved using Particle Swarm Optimization where each particle encodes the morphology and behavior of a single creature.
Experiments revealed certain characteristics that improve the performance of these virtual creatures. Furthermore, evolved creatures outperform those in Miconi and Shannon (2005) up to four times in average speed.

Category:

Science & Technology

Tags:

• Artificial Life
• Virtual Creatures
• Particle Swarm Optimization
• Artificial Neural Networks

[jcrada82]

@jcrada82 sites.google.com/site/jcrada/p­ublications

[jcrada82]

@IamAlan1149 here is the documentation if interested

[IamAlan1149]

ummmmmmm.......... wat?