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Anthropomorphic walking for a simulated bipedal robot has been realized by means of artificial evolution of central pattern generator (CPG) networks. The approach has been investigated through full rigid-body dynamics simulations in 3D of a bipedal robot with 14 degrees of freedom. The half-center CPG model has been used as an oscillator unit, with interconnection paths between oscillators undergoing structural modifications using a genetic algorithm. In addition, the connection weights in a feedback network of predefined structure were evolved. Furthermore, a supporting structure was added to the robot in order to guide the evolutionary process towards natural, human-like gaits. Subsequently, this structure was removed, and the ability of the best evolved controller to generate a bipedal gait without the help of the supporting structure was verified. Stable, natural gait patterns were obtained, with a maximum …