Evolving soft robotic locomotion in PhysX

Given the complexity of the problem, genetic algorithms are one of the more promising methods of discovering control schemes for soft robotics. Since physically embodied evolution is time consuming and expensive, an outstanding challenge lies in developing fast and suitably realistic simulations in which to evolve soft robot gaits. We describe two parallel methods of using NVidia’s PhysX, a hardware-accelerated (GPGPU) physics engine, in order to evolve and optimize soft bodied gaits. The first method involves the evolution of open-loop gaits using a reduced-order lumped parameter model. The second method involves harnessing PhysX’s soft-bodied material simulation capabilites. In each case we discuss the the challenges and possibilities involved in using the PhysX for evolutionary soft robotics. Categories and Subject Descriptors I.2.9 [Robotics]: General Terms Design, Standardization, Verification Keywords PhysX, soft robot, caterpillar

• Type: Conference
• Year: 2009
• Where: GECCO
• Authors: John Rieffel, Frank Saunders, Shilpa Nadimpalli, Harvey Zhou, Soha Hassoun, Jason Rife, Barry Trimmer
• Keywords: GECCO 2009, Optimization, Soft Bodied Gaits, Soft Robot Gaits, Soft Robotics