Evolving Sims's creatures for bipedal gait

In this paper we describe the design of an approach to evolve Sims's creatures with morphology and behaviour similar to biped animals. Our hypothesis is that biases in morphology that encourage limb specialisation, combined with rewards for successful locomotion and carrying at the same time and realistic, physics-based penalties for falling in fitness function, would lead to creatures capable of bipedal locomotion. We present experimental results demonstrating successful evolution of biped morphology and stepping gait.