Commercial CAD models for which we evolved recurrent neural net controllers:
(a) a two-segment inverted pendulum; (b) a Luxo lamp.
9 A spring can be simulated at a joint and the spring constant relaxed.
9 Gravity and other external load forces can be simulated lightly and then
increased.
21.5 BUILDABLE SIMULATION
Commercial CAD models are in fact not constrained enough to be buildable be-
cause they assume a human provides numerous constraints to describe reality. In
order to evolve both the morphology and behavior of autonomous mechanical ...
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