Legged robots that balance
A model of distributed sensorimotor control in the cockroach escape turn
NIPS-3 Proceedings of the 1990 conference on Advances in neural information processing systems 3
The walking of cockroaches—deceptive simplicity
Proceedings of the workshop on "Locomotion Control in Legged Invertebrates" on Biological neural networks in invertebrate neuroethology and robotics
Lobster walking as a model for an omnidirectional robotic ambulation architecture
Proceedings of the workshop on "Locomotion Control in Legged Invertebrates" on Biological neural networks in invertebrate neuroethology and robotics
Evolving dynamical neural networks for adaptive behavior
Adaptive Behavior
Neural networks: a systematic introduction
Neural networks: a systematic introduction
Biologically inspired approaches to robotics: what can we learn from insects?
Communications of the ACM
Walknet—a biologically inspired network to control six-legged walking
Neural Networks - Special issue on neural control and robotics: biology and technology
An Behavior-based Robotics
Machine Learning
Running Across the Reality Gap: Octopod Locomotion Evolved in a Minimal Simulation
Proceedings of the First European Workshop on Evolutionary Robotics
Mobile Robot Miniaturisation: A Tool for Investigation in Control Algorithms
The 3rd International Symposium on Experimental Robotics III
Dynamical Neural Schmitt Trigger for Robot Control
ICANN '02 Proceedings of the International Conference on Artificial Neural Networks
Biologically Inspired Neural Controllers for Motor Control in a Quadruped Robot
IJCNN '00 Proceedings of the IEEE-INNS-ENNS International Joint Conference on Neural Networks (IJCNN'00)-Volume 6 - Volume 6
Hybrid learning architecture for fuzzy control of quadruped walking robots: Research Articles
International Journal of Intelligent Systems - Soft Computing for Modeling, Simulation, and Control of Nonlinear Dynamical Systems
Neural Preprocessing and Control of Reactive Walking Machines: Towards Versatile Artificial Perception-Action Systems (Cognitive Technologies)
Information Sciences: an International Journal
Modular Reactive Neurocontrol for Biologically Inspired Walking Machines
International Journal of Robotics Research
Adaptive Dynamic Walking of a Quadruped Robot on Natural Ground Based on Biological Concepts
International Journal of Robotics Research
A robot that walks; emergent behaviors from a carefully evolved network
Neural Computation
SO(2)-networks as neural oscillators
IWANN'03 Proceedings of the Artificial and natural neural networks 7th international conference on Computational methods in neural modeling - Volume 1
Efference copies in neural control of dynamic biped walking
Robotics and Autonomous Systems
Adaptive Sensor-Driven Neural Control for Learning in Walking Machines
ICONIP '09 Proceedings of the 16th International Conference on Neural Information Processing: Part II
Information Sciences: an International Journal
Neural control of a modular multi-legged walking machine: Simulation and hardware
Robotics and Autonomous Systems
CPG modulation for navigation and omnidirectional quadruped locomotion
Robotics and Autonomous Systems
Adaptive neural oscillator with synaptic plasticity enabling fast resonance tuning
ICANN'12 Proceedings of the 22nd international conference on Artificial Neural Networks and Machine Learning - Volume Part I
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This article describes modular neural control structures for different walking machines utilizing discrete-time neurodynamics. A simple neural oscillator network serves as a central pattern generator producing the basic rhythmic leg movements. Other modules, like the velocity regulating and the phase switching networks, enable the machines to perform omnidirectional walking as well as reactive behaviors, like obstacle avoidance and different types of tropisms. These behaviors are generated in a sensori-motor loop with respect to appropriate sensor inputs, to which a neural preprocessing is applied. The neuromodules presented are small so that their structure-function relationship can be analysed. The complete controller is general in the sense that it can be easily adapted to different types of even-legged walking machines without changing its internal structure and parameters.