Snake Locomotion
with Genetic Algorithm


shapeimage_1
 
Evolution of Snake Locomotion with Genetic Algorithm

Rigid Body System with Open Dynamics Engine
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top



Deformable body using FEM with OpenGl
1. Evolution on flat plain
a. Prove of directional friction. Friction between body and ground is enough strong to support the body not to move on the hill.

downhill(forward friction)


uphill(backward friction)


b. evolution on flat plain
i. before evolution(1st generation)


ii. after evolution
side view


top view



2. Comparison: short body vs long body
a. short body (13 segments)
initial


mid


final
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3. Adaptation on different terrain
We experimented on following 6 different terrain expecting to see different locomotion gaits.

a. uphill
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b. downhill
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c. small hill
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d. large hill


e. debris
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f. walls
top


side(transparent wal)


g. rough terrain
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top(longer)