Biped robot that learns to walk using CPGs and evolutive algorithms

Hi,

I wanted to share part of my thesis work that I did using the breve environment. This is a simulation of a biped robot based on the HOAP-1 that learns to walk using Central Pattern Generators and a lousy evolutive algorithm of my own design. The results aren't as good as I hoped but you might find a way to improve it :)

I uploaded the source code here:
http://the.zemat.googlepages.com/CPG_Biped_5a.tz

If you don't want to waste time waiting for it to learn to walk (it takes more than half a day on my PC) you can use this data file from a previous run I made. (caution: 1mb)
http://the.zemat.googlepages.com/CPG_Biped_5a_sim_data.txt

The source code almost devoid of comments and everything is in a single megafile. Sorry for that :(

You can ask me anything about it and use it for your own work (with proper author acknowledgment please). It's part of an abandoned thesis and I don't want it to go to waste.

You can watch a video of it walking on youtube here:
http://www.youtube.com/watch?v=jx2JaK6i9eg