Modular genetic neural networks for 6-Legged locomotion

Abstract

This paper illustrates an artificial developmental system that is a computationally efficient technique for the automatic generation of complex Artificial Neural Networks (ANN). Artificial developmental system can develop a graph grammar into a modular ANN made of a combination of more simple subnetworks. Genetic programming is used to evolve coded grammars that generates ANNs for controlling a six-legged robot locomotion. A mechanism for the automatic definition of sub-neural networks is incorporated.