Evolution of Artificial Muscle-Based Robotic Locomotion in PhysX

This paper investigates advanced features of the PhysX physics simulation engine for simulated robotic evolution, with the goal of applying the results to a real world soft robotic system which is under construction. The cloth feature in PhysX has the potential of taking into account complex dynamics while at the same time being accelerated by a graphics processing unit. As an initial approach, muscle-shaped structures are simulated with the cloth feature and employed as actuators in a robotic structure where both morphology and control parameters are subject to optimization by a genetic algorithm. A linear and a spring-damper-based model have also been applied for reference. Stable locomotion has been successfully evolved, however, attention to simulation parameters has been necessary in order to avoid simulator instability.