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Evolved Neural Reflex-Oscillators for Walking Machines

  • Conference paper
Mechanisms, Symbols, and Models Underlying Cognition (IWINAC 2005)

Part of the book series: Lecture Notes in Computer Science ((LNTCS,volume 3561))

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Abstract

Legged locomotion has not been understood well enough to build walking machines that autonomously navigate through rough terrain. The current biological understanding of legged locomotion implies a highly decentralised and modular control structure. Neurocontrollers were developed for single, morphological distinct legs of a hexapod walking machine through artificial evolution and physical simulation. The results showed extremely small reflex-oscillators which inherently relied on the sensori-motor loop and a hysteresis effect. Relationships with biological findings are shortly discussed.

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© 2005 Springer-Verlag Berlin Heidelberg

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von Twickel, A., Pasemann, F. (2005). Evolved Neural Reflex-Oscillators for Walking Machines. In: Mira, J., Álvarez, J.R. (eds) Mechanisms, Symbols, and Models Underlying Cognition. IWINAC 2005. Lecture Notes in Computer Science, vol 3561. Springer, Berlin, Heidelberg. https://doi.org/10.1007/11499220_39

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  • DOI: https://doi.org/10.1007/11499220_39

  • Publisher Name: Springer, Berlin, Heidelberg

  • Print ISBN: 978-3-540-26298-5

  • Online ISBN: 978-3-540-31672-5

  • eBook Packages: Computer ScienceComputer Science (R0)

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