Volume 32 Issue 14 - Publication Date: December 2013

Fast damage recovery in robotics with the T-resilience algorithm

Sylvain Koos, Antoine Cully and Jean-Baptiste Mouret

The International Journal of Robotics Research 2013 32: 1700–1723

Downloadable Files

Illustration of the algorithm (case C: front leg shortened) (4.42 mb)
For each investigated damage: reference controller, median result of T-resilience, and best result of T-resilience (3.36 mb)
A full T-resilience run (25 tests, accelerated 2.5 times) in case B (unpowered leg). (3.53 mb)
A full T-resilience run (25 tests, accelerated 2.5 times) in case F (both middle and hind legs lost). (3.47 mb)
Source code (C++) for all the experiments (6.54 mb)

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