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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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
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