M3 Acceleration due to gravity(G) acting on all F2 F3 F4 Floor Reaction force (Re), alwaysRe 4 masses. M1: Head mass = 10 Units M2: Body mass = 1 Unit M3,M4: Feet mass = 1 Unit F1,F2: Force acting between limbs acting to rotate the limbs about the central body pivot. F3,F4: Force acting to change leg length. Friction (Fr) M1 M2 just sufficent to support the body. M3 Friction (Fr) F

part of a newly formed scheme? scheme to the end of the new scheme creation. Start constructing a new part of a newly formed scheme? End the new scheme. Yes No No Yes Generate a basis set of schemes to act as basic units of motion. If physical system crashes then reset it's position to the starting state. Find a scheme which best gets the system to the motivational state. Activate the chosen scheme. Did the scheme move the system closer to the desired state? NoYes Was the previous scheme activated Was the previous scheme activated Add the current scheme using the current scheme as the first.

Generate a basis set of schemes to act as basic units of motion. Yes No leading up to the last scheme by leading up to the last scheme by If previous attempt in present context an amount that increases exponentially with n which favour was decreased, to 1. failed then reset the exponential factor n, by Reset body configuration and increase exponent n a constant amount. Increase context step by 1. No Yes Compare the present context with those in memory. Find scheme which has the highest favour rating in the present context Is system in a known context? Create a new context by adding a further step to the context series. Did the scheme move the system closer to the desired state? Activate chosen scheme and update the present context. Increase the favour of all the schemes in the series. Decrease the favour of all the scheme in the seriess if a satisfactory scheme is not found in that context. in last context step. Reset context to the starting conditions.

Frame 1 Frame 2 Frame 3 Frame 4 Frame 5 Frame 6 Frame 7 Frame 8 Frame 9 START END FINAL SCHEME STRUCTURE

Scheme Development after 3 Attempts X Y Z Starting Point Motivation Point H ea d y− Po sit io n 1.414 1.5 1.6 1.7 Head y−Velocity −0.9768 0 0.7143 Head x−V elocity −2 −1 0 Scheme Development after 16 Attempts X Y Z Starting Point Motivation PointHead y−Position 1.414 1.5 1.6 1.7 Head y−Velocity −1 0 0.7143 Head x−V elocity −2 −1 0 Scheme Development after 19 Attempts X Y Z Starting Point Motivation PointHead y−Position 1.414 1.5 1.6 1.7 Head y−Velocity −1 0 0.7143 Head x−V elocity −2 −1 0 Scheme Development after 29 Attempts X Y Z Starting Point Motivation PointHead y−Position 1.414 1.5 1.6 1.7 Head y−Velocity −1 0 0.7143 Head x−V elocity −2 −1 0 Scheme Development after 38 Attempts X Y Z Starting Point Motivation PointHead y−Position 1.414 1.5 1.6 1.7 Head y−Velocity −1 0 0.7143 Head x−V elocity −2 −1 0 Scheme Development after 63 Attempts X Y Z Starting Point Motivation PointHead y−Position 1.414 1.5 1.6 1.7 Head y−Velocity −1 0 0.7143 Head x−V elocity −2 −1 0 Scheme Development after 171 Attempts X Y Z Starting Point Motivation PointHead y−Position 1.414 1.5 1.6 1.7 Head y−Velocity −1 0 0.7143 Head x−V elocity −2 −1 0 Scheme Development After 225 Attempts X Y Z Starting Point Motivation Point H ea d y− Po sit io n 1.414 1.5 1.6 1.7 Head y−Velocity −1 0 0.7143 Head x−V elocity −2 −1 0 Final, Successful Scheme After 225 Attempts X Y Z Starting Point Motivation Point H ea d y− Po sit io n 1.414 1.5 1.6 1.7 Head y−Velocity −0.1 0 0.1 0.2 0.3 0.4 0.5 Head x−V elocity −0.9674 0 0.

Generate a basis set of schemes to act as basic units of motion. Yes No Increase the favour of all schemes leading up to the last scheme by a constant amount. Decrease the favour of all schemes leading up to the last scheme by an amount that increases exponentially if a satisfactory scheme is not found. If previous attempt in present context failed then reset the exponential factor by which favour was decreased. Reset body configuration and increase exponent. Did it move the system closer to the desired state? Activate chosen scheme. Yes Create a new context. NoIs system in a known context? Compare position in phase space with known contexts. Find scheme which has the highest favour rating in the context.

Scheme Development After 3 Attempts X Y Z Start Point Motivation Point H ea d y− Po sit io n 1.414 1.5 1.6 1.7 Head y−Velocity −0.9575 0 0.7143 Head x−V elocity −2 −1 0 Scheme Development After 21 Attempts X Y Z Start Point Motivation Point H ea d y− Po sit io n 1.414 1.5 1.6 1.7 Head y−Velocity −0.9575 0 0.7143 Head x−V elocity −2 −1 0 Scheme Development After 24 Attempts X Y Z Start Point Motivation Point H ea d y− Po sit io n 1.414 1.5 1.6 1.7 Head y−Velocity −0.9575 0 0.7143 Head x−V elocity −2 −1 0 Scheme Development After 27 Attempts X Y Z Start Point Motivation Point H ea d y− Po sit io n 1.414 1.5 1.6 1.7 Head y−Velocity −1 0 0.7143 Head x−V elocity −2 −1 0 Scheme Development After 51 Attempts X Y Z Start Point Motivation Point H ea d y− Po sit io n 1.414 1.5 1.6 1.7 Head y−Velocity −1 0 0.7143 Head x−V elocity −2 −1 0 Scheme Development After 55 Attempts X Y Z Start Point Motivation Point H ea d y− Po sit io n 1.414 1.5 1.6 1.7 Head y−Velocity −1 0 0.7143 Head x−V elocity −2 −1 0 Scheme Development After 55 Attempts X Y Z Start Point Motivation Point H ea d y− Po sit io n 1.414 1.5 1.6 1.7 Head y−Velocity −1 0 0.7143 Head x−V elocity −2 −1 0 Scheme Development After 94 Attempts X Y Z Start Point Motivation PointH ead y−Position 1.414 1.5 1.6 1.7 Head y−Velocity −1 0 0.7143 Head x−V elocity −2 −1 0 Structure Of The Final Scheme After 94 Attempts X Y Z Start Point Motivation Point H ea d y− Po sit io n 1.414 1.5 1.6 1.7 Head y−Velocity 0 0.1 0.2 0.3 0.4 0.5 Head x−V elocity −0.9654 0 0.