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IEEE SSCI 2025

Automated Damage Control in a Hexapod Robot

This repository contains all of the code necessary to replicate the simulated experiments for automated damage recovery in hexapod robots using various controllers: HyperNEAT & NEAT (ANN controllers), CPG & Reference, SUPG.

Python package dependencies

pip install -r requirements.txt
  • numpy
  • pybullet
  • matplotlib
  • sklearn
  • mpi4py
  • GPy
  • scipy

Submodules

Each of the different controllers used in the paper have their own GitHub repo. For simplicity, the different controllers independent repos have been added as submodules (i.e., links to them). The correlation between each controller and their respective folder/submodule in this repo is detailed below:

Controller Folder/Submodule
HyperNEAT+NEAT ann-controllers
CPG + Reference cpg-controller
SUPG supg-controller