Evolved Step Climbing Creatures

Population size: 80 Generation: up to 1000 Fitness function: distance Selection: - Ranked - Bias 1.7 - Cutoff 0.9 - Elites: 0 Neural network: - 6 Input Neurons (6 kinestetic) - 7 Hidden Neurons - 6 Output Neurons (6 muscle) - 84 Synapses - Neuron bias range: -1, 1 - Synapse weight range: 2 / tanh(1) - Activation function: Hyperbolic tangent approximation. Genome: - Mutation rate: - Crossover: per bit, random - Gene size: 2 byte - Encoding: Gray coded binary - Gene expressio