Abstract: Here we introduce a method for the evolution of dynamic gaits on a physical robot requiring no prior assumptions about the locomotion pattern beyond the fact that it should be rhythmic. The dynamic gaits were physically evolved in hardware using a parallel-actuated pneumatic robot. We have formu- lated a genetic algorithm that evolves open-loop controllers; the encoding allows evolution to shape both the speed and pattern of locomotion while ensuring rhyth- micity. In future, we plan to evolve closed-loop controllers for the physical robot and integrate our previously developed methods to reduce the number of hard- ware trials.
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