EVOLUTION OF LOCOMOTION GAITS OF SIMULATED SIDEWINDER SNAKEBOT

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A movie showing the evolution, adaptation and robustness of Snakebot is available at YouTube.

Evolution.
Fitness is Velocity of Locomotion. 		Sample Best-of-run Locomotion Gaits Robustness of Sample Best-of-run Locomotion Gaits
Initial stages of evolution:
      MPEG1 file (2.2MB)
      Windows media stream (1.2MB)
Intermediate stages of evolution:
      MPEG1 file (2.1MB)
      Windows media stream (1.2MB)
Intermediate stages of evolution:
      MPEG1 file (2.3MB)
      Windows media stream (1.3MB)
Final stages of evolution:
      MPEG1 file (2.0MB)
      Windows media stream (1.1MB)
 Best sidewinding:
      MPEG1 file (2.1MB)
      Windows media stream (1.1MB)
Best sidewinding - surface contacts:
      MPEG1 file (2.0MB)
      Windows media stream (1.2MB)
Best sidewinding - traces of the central segment:
      MPEG1 file (2.4MB)
      Windows media stream (1.3MB)
Best sidewinding - orientation of the central segment (slow motion):
      MPEG1 file (3.9MB)
      Windows media stream (2.2MB)
Steering of best sidewinding:
      MPEG1 file (3.2MB)
      Windows media stream (1.7MB)
Best forward locomotion:
      MPEG1 file (2.2MB)
      Windows media stream (1.3MB)
Best crawling in "tunnel":
      MPEG1 file (1.9MB)
      Windows media stream (1.0MB)
Pile of boxes:
      MPEG1 file (1.9MB)
      Windows media stream (1.1MB)
Burial under stack of boxes:
      MPEG1 file (1.5MB)
      Windows media stream (0.9MB)
Rugged terrain:
      MPEG1 file (1.9MB)
      Windows media stream (1.1MB)
Pen:
      MPEG1 file (1.6MB)
      Windows media stream (1.0MB)
Adaptation to partial damage:
      MPEG1 file (2.0MB)
      Windows media stream (1.1MB)
Before adaptation to challenging terrain:
      MPEG1 file (2.5MB)
      Windows media stream (1.4MB
After adaptation to challenging terrain:
      MPEG1 file (2.5MB)
      Windows media stream (1.4MB)

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