1. Dynamic Motion Control Game|Tech 2004
Torsten Reil
NaturalMotion Ltd
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5. Passive Body Dynamics
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6. Passive Body Dynamics Dimensions Mass Distribution
Passive Lower Leg Swing
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7. Passive Body Dynamics
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8. Actuators
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9. AI Controllers
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10. AI Controllers
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11. Controller Optimisation
Genetic Algorithm
Rank-based selection
Fittest fraction: 0.5
Parameters coded as real values
Mutation size: adjusted Gaussian Distribution
Mutation rate: approx. 1/chromosome
No crossover
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12. Controller Optimisation
Basic fitness function: Distance travelled from origin.
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13. Result
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14. Controller Optimisation
Guided Evolution
Create initially permissive environment
Weak trunk-stabilising controller
After x generations, continue evolution without stabilising controller
 Bike stabilisers
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15. Results
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22. Passive Dynamics
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23. AI-enabled (upper body)
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24. AI-enabled (whole body)
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25. Adaptive Behaviour
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30. Q&A torsten.reil@naturalmotion.com www.naturalmotion.com
Game|Tech © NaturalMotion 2004