Reflex-oscillations in evolved single leg neurocontrollers for walking machines

• Bässler U, Büschges A (1998) Pattern generation for stick insect walking movements – multisensory control of a locomotor program. Brain Research Reviews 27:65–88

  Article  Google Scholar 

• Beer R, Gallagher J (1992) Evolving dynamical neural networks for adaptive behavior. Adaptive Behavior 1:91–122

  Article  Google Scholar 

• Brooks RA (1989) A Robot that Walks: Emergent Behaviors from a Carefully Evolved Network. Technical Report AI MEMO 1091, MIT

• Brooks RA (1991) Intelligence without representation. Artificial Intelligence 47:139–159

  Article  Google Scholar 

• Buddenbrock Wv (1921) Der Rhythmus der Schreitbewegungen der Stabheuschrecke Dyxippus. Biologisches Zentralblatt 41:41–48

  Google Scholar 

• Büschges A (2005) Sensory control and organization of neural networks mediating coordination of multisegmental organs for locomotion. Journal of Neurophysiology 93:1127–1135

  Article  Google Scholar 

• Büschges A, Schmitz J, Bässler U (1995) Rhythmic patterns in the thoracic nerve cord of the stick insect induced by pilocarpine. Journal of Experimental Biology 198:435–456

  Google Scholar 

• Chiel H, Beer R (1997) The brain has a body: adaptive behavior emerges from interactions of nervous system, body and environment. Trends in Neurosciences 20:553–557

  Article  Google Scholar 

• Cruse H (1990) What mechanisms coordinate leg movement in walking arthropods? Trends in Neurosciences 13:15–21

  Article  Google Scholar 

• Cruse H (2002) The functional sense of central oscillations in walking. Biological Cybernetics 86:271–280

  Article  MATH  Google Scholar 

• Cruse H, Bartling C (1995) Movement of joint angles in the legs of a walking insect, Carausius morosus. Journal of Insect Physiology 41(9):761–771

  Article  Google Scholar 

• Dean J (1998) Animats and what they can tell us. Trends in Cognitive Science 2(2):60–67

  Article  Google Scholar 

• Dean J, Kindermann T, Schmitz J, Schumm M, Cruse H (1999) Control of walking in the stick insect: from behavior and physiology to modeling. Autonomous Robots 7:271–288

  Article  Google Scholar 

• Delcomyn F (1999) walking robots and the central and peripheral control of locomotion in insects. Autonomous Robots 7:259–270

  Article  Google Scholar 

• Dickinson MH, Farley CT, Full RJ, Koehl MAR, Kram R, Lehmann S (2000) How animals move: an integrative view. Science 288:100–106

  Article  Google Scholar 

• Dumont JPC, Robertson RM (1986) Neuronal circuits: an evolutionary perspective. Science 233:849–853

  Article  Google Scholar 

• Ekeberg O, Blümel M, Büsschges A (2004) Dynamic simulation of insect walking. Arthropod Structure & Development 33:287–300

  Article  Google Scholar 

• Ferrell C (1995) A comparison of three insect inspired locomotion controllers. Robotics and Autonomous Systems 16:135–159

  Article  Google Scholar 

• Full RJ (1997) Invertebrate locomotor systems. In: Dantzler W (ed) The Handbook of Comparative Physiology, pp. 853–930. Oxford University Press

• Grillner S, Ekeberg O, Manira AE, Lansner A, Parker D, Tegner J, Wallen P (1998) Intrinsic function of a neuronal network – a vertebrate central pattern generator. Brain Research Reviews 26(2–3):184–197

  Article  Google Scholar 

• Hatsopoulos NG, Burrows M, Laurent G (1995) Hysteresis reduction in proprioception using presynaptic shunting inhibition. Journal of Neurophysiology 73(3):1031–1042

  Google Scholar 

• Heinzel H-G, Weimann JM, Marder E (1993) The behavioral repertoire of the gastric mill in the crab, cancer pagurus: an in situ endoscopic and electrophysiological examination. The Journal of Neuroscience 13(4):1793–1803

  Google Scholar 

• Hülse M, Wischmann S, Pasemann F (2004) Structure and function of evolved neuro-controllers for autonomous robots. Connection Science 16(4):294–266

  Article  Google Scholar 

• Jacob D, Polani D and Nehaniv CL (2005) Legs that can walk: embodiment-based modular reinforcement learning applied. In: IEEE Computational Intelligence in Robotics & Automata (IEEE CIRA 2005). pp 365–372

• Jindrich DL, Full RJ (2002) Dynamic stabilization of rapid hexapedal locomotion. Journal of Experimental Biology 205:2803–2823

  Google Scholar 

• Kononenko NI, Dudek FE (2006) Persistent calcium current in rat suprachiasmatic nucleus neurons. Neuroscience 138:377–388

  Article  Google Scholar 

• Kostyukov AI (1998) Muscle hysteresis and movement control: a theoretical study. Neuroscience 83(1):303–320

  Article  Google Scholar 

• Lee RH, Heckman CJ (1998) Bistability in spinal motoneurons in vivo: systematic variations in persistent inward currents. Journal of Neurophysiology 80:583–593

  Google Scholar 

• Linder CR (2005) Embodiment in two dimensions. In: Proceedings of the 7th International Conference on Climbing and Walking Robots 2004

• Nolfi S, Floreano D (2000) Evolutionary robotics: the biology, intelligence, and technology of self-organizing machines. MIT Press, Cambridge, MA

  Google Scholar 

• Orlovsky G, Deliagina T and Grillner S (1999) Neuronal Control of Locomotion. Oxford University Press

• Pasemann F (1993) Dynamics of a single model neuron. International Journal of Bifurcation and Chaos 2:271–278

  Article  Google Scholar 

• Pasemann F (2002) Complex dynamics and the structure of small neural networks. Network: Computation in neural systems 13:195–216

  MATH  Google Scholar 

• Pasemann F, Hild M and Zahedi K (2003) SO(2)-networks as neural oscillators. In: Mira J and Alvarez J (eds) Computational Methods in Neural Modeling, pp. 144–151. Springer, Berlin

• Pearson KG, Franklin R (1984) Characteristics of leg movements and patterns of coordination in locusts walking on rough terrain. International Journal of Robotics Research 3(2):101–112

  Article  Google Scholar 

• Prochazka A, Gillard D, Bennett DJ (1997) Implications of positive feedback in the control of movement. The Journal of Neurophysiology 77(6):3237–3251

  Google Scholar 

• Psujek S, Ames J, Beer R (2006) Connection and coordination: the interplay between architecture and dynamics in evolved model pattern generators. Neural Computation 18:729–747

  Article  MATH  Google Scholar 

• Quinn RD, Nelson GM, Bachmann RJ, Kingsley DA, Offi JT, Allen TJ, Ritzmann RE (2003) Parallel complementary strategies for implementing biological principles into mobile robots. International Journal of Robotics Research 22(3):169–186

  Article  Google Scholar 

• Schmitz J, Dean J, Kindermann T, Schumm M, Cruse H (2001) A biologically inspired controller for hexapod walking: simple solutions by exploiting physical properties. The Biological Bulletin 200:195–200

  Article  Google Scholar 

• Selverston AI, Panchin YV, Arshavsky YI, Orlovsky GN (1999) Neurons, Networks, and Motor Behavior, Chapt. Shared Features of Invertebrate Central Pattern Generators. MIT Press, Cambridge, MA, pp. 105–117

  Google Scholar 

• Toth TI, Hughes SW, Crunelli V (1998) Analysis and biophysical interpretation of bistable behaviour in thalamocortical neurons. Neuroscience 87(2):519–523

  Article  Google Scholar 

• Wendler G (1966) The co-ordination of walking movements in arthropods. Symposia of the Society for Experimental Biology 20:229–249

  Google Scholar 

• Zill SN and Jepson-Innes K (1988) Evolutionary adaptation of a reflex system: sensory hysteresis counters muscle ‘catch’ tension. Journal of Comparative Physiology A 164:43–48

  Article  Google Scholar 

Download references