Cephalopod locomotion evolution 2D [Description](https://jobtalle.com/neuroevolution_in_squids.html) [Github](https://github.com/jobtalle/cephalopods) [Demo](https://jobtalle.com/Cephalopods/) - Interesting tentacle design - A tentacle is rooted at the body - A single neuron's output controls the target angle of the tentacle - each segment in the tentacle arm has a target angle to align with the parent and a damped spring - so with time, the arm will straighten - lateral motion of the arm segments acts on the surrounding fluid - all together, a simple sinusoidal activation (or bang-bang) of the control neuron gives very pleasing and effective swimming motion - Lessons: - default segment creation should be with a spring with neutral resting position and reasonably strong - Adding control should be less frequent than adding segments - don't be afraid to start without sensors