I have a idea for a spider robot, which will have 8 legs with 3 servos each , I have been studying and less a few details understand the advantages of learning networks, but i wonder how to encode the genome,24 servos isn't problem on its own, but my confusion lies because i need to think about timing, like when it needs to take the second half of step or a whole step.
or when servos need more time to position or have different start positions and may need to act differently,,, (ie different stroke cycle start pos) ,
would i have servo function roll out a full sized string, or should i make it do different length of cmd strings with terminator variables, or would it be better to break the array to have individual blocks for servo position & pulse repeat value, or with strides and steps that change for terrain types, or a string maybe for each servo,
or what if i want it to stand up, genome would need to be different if start pos is different. ie start pos laying down , starts in pos 0 while standing up starts in stroke pos 4 .. but both cases finish in pos8 ... would it need different cmd strings for different start points? ....since its half way through a step i dont want it to move backwards to pos0 if that part of the step is already taken,
just a pseudo code example of how to arrange the genome strings would help thanks!