Soft Robot Evolution
A custom physics engine, built from scratch, used to evolve soft-bodied robots via evolutionary algorithms.
Overview
Rather than rely on an off-the-shelf simulator, I wrote my own physics engine to model soft-bodied structures, then used evolutionary algorithms to evolve morphologies and gaits that could locomote. [Expand with specifics.]
The Physics Engine
- [Integration scheme — e.g. Verlet, semi-implicit Euler]
- [Soft-body model — mass-spring, FEM, pressure model]
- [Collision detection and response]
- [Constraint solving]
Evolutionary Loop
[Describe the evolutionary algorithm — genome encoding, fitness function (e.g. distance traveled), selection, mutation, generations.]
Result
[What evolved? Show the best locomoting morphologies, generations to convergence, emergent behaviors.]