A grad-student-colleague of mine developped a control system for a robot using hyper-redundant binary-state actuators using GA's to search the solution space.

A grad-student-colleague of mine developped a control system for a robot using hyper-redundant binary-state actuators using GA's to search the solution space. See: http://dx.doi.org/10.1109/ICRA.2013.6630624 http://dx.doi.org/10.1109/ICRA.2013.6630624