Evolved Step Climbing Creatures

Source: http://www.youtube.com/watch?v=euFvRfQRbLI

Description:

Population size: 80

Generation: up to 1000

Fitness function: distance

Selection:
- Ranked
- Bias 1.7
- Cutoff 0.9
- Elites: 0

Neural network:
- 6 Input Neurons (6 kinestetic)
- 7 Hidden Neurons
- 6 Output Neurons (6 muscle)
- 84 Synapses
- Neuron bias range: -1, 1
- Synapse weight range: 2 / tanh(1)
- Activation function: Hyperbolic tangent approximation.

Genome:
- Mutation rate: 0.007
- Crossover: per bit, random
- Gene size: 2 byte
- Encoding: Gray coded binary
- Gene expression: synapse weight and neuron bias.
- Initial state: random

Body:
- Worm, 7 segments
- Variation: Segment length and joint size

Sensors:
- kinestetic sense (angle of joints)

Environment: Steps of increasing height