Step by Step

Re-evaluation plan for Gyoomard is to assess the results of different stages step by step. This would mean to start off with no control and run the biped simulation as a Passive Dynamic Walker, then add a very simple control with a simple neural network. Finally achieving the full problem configuration.

Another main area for investigation the exact mechanism for the GA. It seems currently that the solver falls into local maximum points.

One other feature which can be added in the step by step progression is a support to help Gyoomard in the walking process. The support will be used for learning and then taken out at some future stage.

Blocked

Gyoomard's evolution has come to a block so far. Hasn't been able to cover a longer distance. The whole Genetic Algorithm operations need to be revised, mutation of one per gene of a genome on an initial population of 50 doesn't seem to cover the search space in a suitable format.

8m

8 meters has been the record for Gyoomard walk so far before falling down. This would be something like taking two steps.
There are many parameters needing to be tweaked and the overall code needs to be enhanced regarding efficiency.

Gyoomard is trying

Gyoomard is undergoing training at the moment. Or better say Gyoomard's are being trained, evaluated, reproduced and evaluated again, until an elite genome is found that would be able to walk on a straight ground.

Generation 165 of the simulation is running currently and the best displacement so far has been 3.4 meters. 

This is the first try in making Gyoomard walk and no expectations yet, lots of things need tweaks.

Lets see how things work out but the experience is very exciting already.

Gyoomard's brain is currently a CTRNN with 10 nodes, fully connected. Its body is comprised of a lower leg, upper leg and hip. 1 DOF knees and 2DOF hip joints.