The Framsticks system: versatile simulator of 3D agents and their evolution

Various aspects of the Framsticks system are described. The system is a universal tool for modeling, simulating and optimizing virtual agents, with three‐dimensional body and embedded control system. Simulation model is described first. Then features of the system framework are presented, with typical and potential applications. Specific tools supporting human understanding of evolutionary processes, control and behaviors are also outlined. Finally, the most interesting research experiments are summarized.