{"id":"https://openalex.org/W2122482254","doi":"https://doi.org/10.1145/1389095.1389136","title":"Modular neuroevolution for multilegged locomotion","display_name":"Modular neuroevolution for multilegged locomotion","publication_year":2008,"publication_date":"2008-07-12","ids":{"openalex":"https://openalex.org/W2122482254","doi":"https://doi.org/10.1145/1389095.1389136","mag":"2122482254"},"language":"en","primary_location":{"id":"doi:10.1145/1389095.1389136","is_oa":false,"landing_page_url":"https://doi.org/10.1145/1389095.1389136","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"Proceedings of the 10th annual conference on Genetic and evolutionary computation","raw_type":"proceedings-article"},"type":"article","indexed_in":["crossref"],"open_access":{"is_oa":false,"oa_status":"closed","oa_url":null,"any_repository_has_fulltext":false},"authorships":[{"author_position":"first","author":{"id":"https://openalex.org/A5027713833","display_name":"Vinod K. Valsalam","orcid":null},"institutions":[{"id":"https://openalex.org/I86519309","display_name":"The University of Texas at Austin","ror":"https://ror.org/00hj54h04","country_code":"US","type":"education","lineage":["https://openalex.org/I86519309"]}],"countries":["US"],"is_corresponding":true,"raw_author_name":"Vinod K. Valsalam","raw_affiliation_strings":["The University of Texas at Austin, Austin, TX, USA","The University of Texas At Austin, Austin, TX, USA"],"affiliations":[{"raw_affiliation_string":"The University of Texas at Austin, Austin, TX, USA","institution_ids":["https://openalex.org/I86519309"]},{"raw_affiliation_string":"The University of Texas At Austin, Austin, TX, USA","institution_ids":["https://openalex.org/I86519309"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5020441009","display_name":"Risto Miikkulainen","orcid":"https://orcid.org/0000-0002-0062-0037"},"institutions":[{"id":"https://openalex.org/I86519309","display_name":"The University of Texas at Austin","ror":"https://ror.org/00hj54h04","country_code":"US","type":"education","lineage":["https://openalex.org/I86519309"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Risto Miikkulainen","raw_affiliation_strings":["The University of Texas at Austin, Austin, TX, USA","The University of Texas At Austin, Austin, TX, USA"],"affiliations":[{"raw_affiliation_string":"The University of Texas at Austin, Austin, TX, USA","institution_ids":["https://openalex.org/I86519309"]},{"raw_affiliation_string":"The University of Texas At Austin, Austin, TX, USA","institution_ids":["https://openalex.org/I86519309"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":2,"corresponding_author_ids":["https://openalex.org/A5027713833"],"corresponding_institution_ids":["https://openalex.org/I86519309"],"apc_list":null,"apc_paid":null,"fwci":4.2452,"has_fulltext":false,"cited_by_count":50,"citation_normalized_percentile":{"value":0.9404329,"is_in_top_1_percent":false,"is_in_top_10_percent":true},"cited_by_percentile_year":{"min":89,"max":99},"biblio":{"volume":null,"issue":null,"first_page":"265","last_page":"272"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T10879","display_name":"Robotic Locomotion and Control","score":1.0,"subfield":{"id":"https://openalex.org/subfields/2204","display_name":"Biomedical Engineering"},"field":{"id":"https://openalex.org/fields/22","display_name":"Engineering"},"domain":{"id":"https://openalex.org/domains/3","display_name":"Physical Sciences"}},"topics":[{"id":"https://openalex.org/T10879","display_name":"Robotic Locomotion and Control","score":1.0,"subfield":{"id":"https://openalex.org/subfields/2204","display_name":"Biomedical Engineering"},"field":{"id":"https://openalex.org/fields/22","display_name":"Engineering"},"domain":{"id":"https://openalex.org/domains/3","display_name":"Physical Sciences"}},{"id":"https://openalex.org/T10462","display_name":"Reinforcement Learning in Robotics","score":0.9958000183105469,"subfield":{"id":"https://openalex.org/subfields/1702","display_name":"Artificial Intelligence"},"field":{"id":"https://openalex.org/fields/17","display_name":"Computer Science"},"domain":{"id":"https://openalex.org/domains/3","display_name":"Physical Sciences"}},{"id":"https://openalex.org/T11685","display_name":"Zebrafish Biomedical Research Applications","score":0.9883999824523926,"subfield":{"id":"https://openalex.org/subfields/1307","display_name":"Cell Biology"},"field":{"id":"https://openalex.org/fields/13","display_name":"Biochemistry, Genetics and Molecular Biology"},"domain":{"id":"https://openalex.org/domains/1","display_name":"Life Sciences"}}],"keywords":[{"id":"https://openalex.org/keywords/neuroevolution","display_name":"Neuroevolution","score":0.8471848964691162},{"id":"https://openalex.org/keywords/modular-design","display_name":"Modular design","score":0.7921348810195923},{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.7303755283355713},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.6767628192901611},{"id":"https://openalex.org/keywords/terrain","display_name":"Terrain","score":0.6242521405220032},{"id":"https://openalex.org/keywords/robot-locomotion","display_name":"Robot locomotion","score":0.5624572038650513},{"id":"https://openalex.org/keywords/reinforcement-learning","display_name":"Reinforcement learning","score":0.5507420897483826},{"id":"https://openalex.org/keywords/obstacle","display_name":"Obstacle","score":0.4695734679698944},{"id":"https://openalex.org/keywords/self-reconfiguring-modular-robot","display_name":"Self-reconfiguring modular robot","score":0.4135262072086334},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.4034348726272583},{"id":"https://openalex.org/keywords/artificial-neural-network","display_name":"Artificial neural network","score":0.3953685462474823},{"id":"https://openalex.org/keywords/control-engineering","display_name":"Control engineering","score":0.3934200704097748},{"id":"https://openalex.org/keywords/robot-control","display_name":"Robot control","score":0.356391966342926},{"id":"https://openalex.org/keywords/control-theory","display_name":"Control theory (sociology)","score":0.34106066823005676},{"id":"https://openalex.org/keywords/mobile-robot","display_name":"Mobile robot","score":0.34047964215278625},{"id":"https://openalex.org/keywords/control","display_name":"Control (management)","score":0.22630706429481506},{"id":"https://openalex.org/keywords/engineering","display_name":"Engineering","score":0.19380900263786316}],"concepts":[{"id":"https://openalex.org/C118070581","wikidata":"https://www.wikidata.org/wiki/Q2060528","display_name":"Neuroevolution","level":3,"score":0.8471848964691162},{"id":"https://openalex.org/C101468663","wikidata":"https://www.wikidata.org/wiki/Q1620158","display_name":"Modular design","level":2,"score":0.7921348810195923},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.7303755283355713},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.6767628192901611},{"id":"https://openalex.org/C161840515","wikidata":"https://www.wikidata.org/wiki/Q186131","display_name":"Terrain","level":2,"score":0.6242521405220032},{"id":"https://openalex.org/C6101204","wikidata":"https://www.wikidata.org/wiki/Q7353391","display_name":"Robot locomotion","level":5,"score":0.5624572038650513},{"id":"https://openalex.org/C97541855","wikidata":"https://www.wikidata.org/wiki/Q830687","display_name":"Reinforcement learning","level":2,"score":0.5507420897483826},{"id":"https://openalex.org/C2776650193","wikidata":"https://www.wikidata.org/wiki/Q264661","display_name":"Obstacle","level":2,"score":0.4695734679698944},{"id":"https://openalex.org/C49603950","wikidata":"https://www.wikidata.org/wiki/Q17165512","display_name":"Self-reconfiguring modular robot","level":5,"score":0.4135262072086334},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.4034348726272583},{"id":"https://openalex.org/C50644808","wikidata":"https://www.wikidata.org/wiki/Q192776","display_name":"Artificial neural network","level":2,"score":0.3953685462474823},{"id":"https://openalex.org/C133731056","wikidata":"https://www.wikidata.org/wiki/Q4917288","display_name":"Control engineering","level":1,"score":0.3934200704097748},{"id":"https://openalex.org/C65401140","wikidata":"https://www.wikidata.org/wiki/Q7353385","display_name":"Robot control","level":4,"score":0.356391966342926},{"id":"https://openalex.org/C47446073","wikidata":"https://www.wikidata.org/wiki/Q5165890","display_name":"Control theory (sociology)","level":3,"score":0.34106066823005676},{"id":"https://openalex.org/C19966478","wikidata":"https://www.wikidata.org/wiki/Q4810574","display_name":"Mobile robot","level":3,"score":0.34047964215278625},{"id":"https://openalex.org/C2775924081","wikidata":"https://www.wikidata.org/wiki/Q55608371","display_name":"Control (management)","level":2,"score":0.22630706429481506},{"id":"https://openalex.org/C127413603","wikidata":"https://www.wikidata.org/wiki/Q11023","display_name":"Engineering","level":0,"score":0.19380900263786316},{"id":"https://openalex.org/C199539241","wikidata":"https://www.wikidata.org/wiki/Q7748","display_name":"Law","level":1,"score":0.0},{"id":"https://openalex.org/C111919701","wikidata":"https://www.wikidata.org/wiki/Q9135","display_name":"Operating system","level":1,"score":0.0},{"id":"https://openalex.org/C17744445","wikidata":"https://www.wikidata.org/wiki/Q36442","display_name":"Political science","level":0,"score":0.0},{"id":"https://openalex.org/C18903297","wikidata":"https://www.wikidata.org/wiki/Q7150","display_name":"Ecology","level":1,"score":0.0},{"id":"https://openalex.org/C86803240","wikidata":"https://www.wikidata.org/wiki/Q420","display_name":"Biology","level":0,"score":0.0}],"mesh":[],"locations_count":3,"locations":[{"id":"doi:10.1145/1389095.1389136","is_oa":false,"landing_page_url":"https://doi.org/10.1145/1389095.1389136","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"Proceedings of the 10th annual conference on Genetic and evolutionary computation","raw_type":"proceedings-article"},{"id":"pmh:oai:CiteSeerX.psu:10.1.1.148.1620","is_oa":false,"landing_page_url":"http://citeseerx.ist.psu.edu/viewdoc/summary?doi=10.1.1.148.1620","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"submittedVersion","is_accepted":false,"is_published":false,"raw_source_name":"http://www.cs.bham.ac.uk/~wbl/biblio/gecco2008/docs/p265.pdf","raw_type":"text"},{"id":"pmh:oai:CiteSeerX.psu:10.1.1.175.2701","is_oa":false,"landing_page_url":"http://citeseerx.ist.psu.edu/viewdoc/summary?doi=10.1.1.175.2701","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"submittedVersion","is_accepted":false,"is_published":false,"raw_source_name":"http://nn.cs.utexas.edu/downloads/papers/valsalam.gecco08.pdf","raw_type":"text"}],"best_oa_location":null,"sustainable_development_goals":[{"id":"https://metadata.un.org/sdg/16","score":0.6200000047683716,"display_name":"Peace, Justice and strong institutions"}],"awards":[],"funders":[],"has_content":{"grobid_xml":false,"pdf":false},"content_urls":null,"referenced_works_count":27,"referenced_works":["https://openalex.org/W17006687","https://openalex.org/W21808375","https://openalex.org/W1539784117","https://openalex.org/W1546017104","https://openalex.org/W1640247718","https://openalex.org/W1983815930","https://openalex.org/W1986984619","https://openalex.org/W1994530392","https://openalex.org/W2002560324","https://openalex.org/W2012391952","https://openalex.org/W2013427445","https://openalex.org/W2037380487","https://openalex.org/W2067482839","https://openalex.org/W2083694019","https://openalex.org/W2095995315","https://openalex.org/W2096836513","https://openalex.org/W2106433364","https://openalex.org/W2127088021","https://openalex.org/W2127197749","https://openalex.org/W2128630570","https://openalex.org/W2138321920","https://openalex.org/W2140297648","https://openalex.org/W2140685838","https://openalex.org/W2144357723","https://openalex.org/W2161542506","https://openalex.org/W2337991911","https://openalex.org/W6679071302"],"related_works":["https://openalex.org/W4361186167","https://openalex.org/W4368232256","https://openalex.org/W87601075","https://openalex.org/W2583036932","https://openalex.org/W2045905849","https://openalex.org/W1541293659","https://openalex.org/W2161749612","https://openalex.org/W2149380484","https://openalex.org/W2160580778","https://openalex.org/W2535849818"],"abstract_inverted_index":{"Legged":[0],"robots":[1],"are":[2,118,153,166,180],"useful":[3],"in":[4,86,120,158],"tasks":[5],"such":[6,75,110],"as":[7,111,175],"search":[8,48,78],"and":[9,32,46,56,90,115,170],"rescue":[10],"because":[11,40],"they":[12],"can":[13,126],"effectively":[14,81],"navigate":[15],"on":[16,185],"rugged":[17],"terrain.":[18,188],"However,":[19],"it":[20,92],"is":[21,38,43,50,80,196],"difficult":[22,39],"to":[23,129],"design":[24],"controllers":[25,73,179,202],"for":[26,53,57,69,74,198,203],"them":[27],"that":[28,117,165,192],"would":[29],"be":[30],"stable":[31],"robust.":[33],"Learning":[34],"the":[35,47,87,106,124,144,193],"control":[36],"behavior":[37,42],"optimal":[41],"not":[44,172],"known,":[45],"space":[49,79],"too":[51],"large":[52],"reinforcement":[54],"learning":[55],"straightforward":[58],"evolution.":[59],"As":[60],"a":[61,66,102,176],"solution,":[62],"this":[63],"paper":[64],"proposes":[65],"modular":[67,138,194],"approach":[68,139,195],"evolving":[70],"neural":[71],"network":[72,94],"robots.":[76,205],"The":[77,137],"reduced":[82],"by":[83],"exploiting":[84],"symmetry":[85],"robot":[88,104,125],"morphology,":[89],"encoding":[91],"into":[93],"modules.":[95],"Experiments":[96],"involving":[97],"physically":[98],"realistic":[99],"simulations":[100],"of":[101,146,151],"quadruped":[103,121],"produce":[105,160],"same":[107],"symmetric":[108],"gaits,":[109],"pronk,":[112],"pace,":[113],"bound":[114],"trot,":[116],"seen":[119],"animals.":[122],"Moreover,":[123],"transition":[127],"dynamically":[128],"more":[130],"effective":[131,169,197],"gaits":[132,161],"when":[133,143],"faced":[134],"with":[135],"obstacles.":[136],"also":[140,181],"scales":[141],"well":[142],"number":[145],"legs":[147],"or":[148],"their":[149],"degrees":[150],"freedom":[152],"increased.":[154],"Evolved":[155],"non-modular":[156],"controllers,":[157],"contrast,":[159],"resembling":[162],"crippled":[163],"animals":[164],"much":[167],"less":[168,182],"do":[171],"scale":[173],"up":[174],"result.":[177],"Hand-designed":[178],"effective,":[183],"especially":[184],"an":[186],"obstacle":[187],"These":[189],"results":[190],"suggest":[191],"designing":[199],"robust":[200],"locomotion":[201],"multilegged":[204]},"counts_by_year":[{"year":2023,"cited_by_count":1},{"year":2020,"cited_by_count":1},{"year":2019,"cited_by_count":1},{"year":2018,"cited_by_count":2},{"year":2017,"cited_by_count":3},{"year":2016,"cited_by_count":2},{"year":2015,"cited_by_count":5},{"year":2014,"cited_by_count":4},{"year":2013,"cited_by_count":7},{"year":2012,"cited_by_count":6}],"updated_date":"2026-04-05T17:49:38.594831","created_date":"2025-10-10T00:00:00"}