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. © Springer-Verlag Berlin Heidelberg 2005.
CITATION STYLE
Von Twickel, A., & Pasemann, F. (2005). Evolved neural reflex-oscillators for walking machines. In Lecture Notes in Computer Science (Vol. 3561, pp. 376–385). Springer Verlag. https://doi.org/10.1007/11499220_39
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