Intelligence as adaptive behavior: an experiment in computational neuroethology
Intelligence as adaptive behavior: an experiment in computational neuroethology
Analysis of a simplified hopping robot
International Journal of Robotics Research
Evolving dynamical neural networks for adaptive behavior
Adaptive Behavior
Automatic generation of programs for crawling and walking
Advances in genetic programming
Automatic definition of modular neural networks
Adaptive Behavior
On the dynamics of small continuous-time recurrent neural networks
Adaptive Behavior - Special issue on computational neuroethology
Introduction to Hybrid Dynamical Systems
Introduction to Hybrid Dynamical Systems
Parameter space structure of continuous-time recurrent neural networks
Neural Computation
Coupling the neural and physical dynamics in rhythmic movements
Neural Computation
A dynamical systems perspective on agent-environment interaction
Artificial Intelligence
IEEE Transactions on Neural Networks
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This article rigorously characterizes the structure of the entire fitness space of a simple neuromechanical system consisting of a model leg in closed-loop interaction with a neural controller. Using tools from the theory of piecewise-smooth dynamical systems, we derive expressions for the location and layout of the region of high-fitness solutions in parameter space, and we show how both the boundary and the internal structure of this region arise from specific neural, mechanical, and neuromechanical properties of the walking system. In addition, we characterize the structure of the map from neural parameters to gaits to fitness.