Optimizing Morphology and Locomotion on a Corpus of Parametric Legged Robots

In this paper, we describe an optimization approach to the legged locomotion problem. We designed a software environment to manipulate parametrized robot models. This environment is a platform developed for future experiments and for educational robotics purpose. It allows to generate dynamic models and simulate them using a physics engine. Experiments can then be made with both morphological and controller optimization. Here we describe the environment, propose a simple open loop generic controller for legged robots and discuss experiments that were made on a robot corpus using a black-box optimization.