Coupled inverted pendulums benchmark
2010/11/30
Scenario
Several carts on which an inverted pendulum is mounted are loosely coupled by chains. They have to cooperate and reach a state in which all pendulums are balanced. The non-linear up-swinging phase is included.
Source code
The source code of the benachmark is short and simple:
CoupledPendulums.cpp CoupledPendulums.h
Records
| [# modules] | [best fitness] | [method] | [cart trajectories] | [pendulums angles] | [video] |
| 1 | 0.977242 | AHHS+noise |  |
 |
video |
| 2 | 0.967382 | AHHS |  |
 |
video |
| 3 | 0.839127 | AHHS+noise |  |
 |
video |
| 4 | 0.824691 | AHHS+noise |  |
 |
video |
| 5 | 0.831669 | AHHS+noise |  |
 |
video |
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