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Genotype details

Name: Rolling Wheel
From gene pool: walking
Author: Juan A. Medina (mail)
Date submitted: 2007-05-12
Size: 16 parts
24 joints
32 neurons
24 neural connections
Actions: Download this genotype

Description: A wheel that runs on a straight line.
How created: Designed
Every joint has a bending muscle controlled by a gyroscope through a threshold neuron. I've found the range of the bending muscles = 0.18 as an optimal value. In 2015, Maciej Komosinski fixed neuron types (there were 8 invalid "Trh" neurons which the original author probably wanted to be "Thr"), so the conclusion about the optimal value of 0.18 may be no longer valid. Would be nice to optimize the four parameters (three for Thr and one muscle range) again.
Performance notes: An example of a modular design: every side of the creature is identical to any other.
Full genotype:
//0
p:
-0.5,0,-1.2071,rx=1.57
p:0.5,0,-1.2071,
rx=1.57
p:1.2071,0,-0.5,
rx=1.57
p:1.2071,0,0.5,
rx=1.57
p:0.5,0,1.2071,
rx=1.57
p:-0.5,0,1.2071,
rx=1.57
p:-1.2071,0,0.5,
rx=1.57
p:-1.2071,0,-0.5,
rx=1.57
p:-0.5,1,-1.2071,
rx=1.57
p:0.5,1,-1.2071,
rx=1.57
p:1.2071,1,-0.5,
rx=1.57
p:1.2071,1,0.5,
rx=1.57
p:0.5,1,1.2071,
rx=1.57
p:-0.5,1,1.2071,
rx=1.57
p:-1.2071,1,0.5,
rx=1.57
p:-1.2071,1,-0.5,
rx=1.57

j:0,1
j:1,2
j:2,3
j:3,4
j:4,5
j:5,6
j:6,7
j:7,0
j:8,9
j:9,10
j:10,11
j:11,12
j:12,13
j:13,14
j:14,15
j:15,8
j:0,8
j:1,9
j:2,10
j:3,11
j:4,12
j:5,13
j:6,14
j:7,15

n:
j=0,d="|:r=0.18"
n:j
=8,d="|:r=0.18"
n:j
=0,d="G:"
n:d
="Thr: t=-0.01,lo=-1,hi=1"
c:
0,3
c:1,3
c:3,2

n:
j=1,d="|:r=0.18"
n:j
=9,d="|:r=0.18"
n:j
=1,d="G:"
n:d
="Thr: t=-0.01,lo=-1,hi=1"
c:
4,7
c:5,7
c:7,6

n:
j=2,d="|:r=0.18"
n:j
=10,d="|:r=0.18"
n:j
=2,d="G:"
n:d
="Thr: t=-0.01,lo=-1,hi=1"
c:
8,11
c:9,11
c:11,10

n:
j=3,d="|:r=0.18"
n:j
=11,d="|:r=0.18"
n:j
=3,d="G:"
n:d
="Thr: t=-0.01,lo=-1,hi=1"
c:
12,15
c:13,15
c:15,14

n:
j=4,d="|:r=0.18"
n:j
=12,d="|:r=0.18"
n:j
=4,d="G:"
n:d
="Thr: t=-0.01,lo=-1,hi=1"
c:
16,19
c:17,19
c:19,18

n:
j=5,d="|:r=0.18"
n:j
=13,d="|:r=0.18"
n:j
=5,d="G:"
n:d
="Thr: t=-0.01,lo=-1,hi=1"
c:
20,23
c:21,23
c:23,22

n:
j=6,d="|:r=0.18"
n:j
=14,d="|:r=0.18"
n:j
=6,d="G:"
n:d
="Thr: t=-0.01,lo=-1,hi=1"
c:
24,27
c:25,27
c:27,26

n:
j=7,d="|:r=0.18"
n:j
=15,d="|:r=0.18"
n:j
=7,d="G:"
n:d
="Thr: t=-0.01,lo=-1,hi=1"
c:
28,31
c:29,31
c:31,30
Food finding on land (MS): -0.5695
 
 
Land speed (MS): 0.03539
 
 
Land speed (ODE): 2.577e-05