This simulation of Jerry Smith can be taught to walk or backflip using a NEAT genetic algorithm.
Jerry's brain is simulated with a simple neural network that takes his current body state and outputs the desired torque for each of his joints. NEAT-python generates a population of neural networks and evolves them over time.
Creating New Behaviors
In order to create a behavior of your own, extend the Config class. This class is responsible for returning a fitness calculator, motion calculator, NEAT config, and starting joint angles.