Evolved neural reflex-oscillators for walking machines

Authors:
Arndt von Twickel;Frank Pasemann
Affiliations:
Fraunhofer Institute AIS, Sankt Augustin, Germany;Fraunhofer Institute AIS, Sankt Augustin, Germany
Venue:
IWINAC'05 Proceedings of the First international conference on Mechanisms, Symbols, and Models Underlying Cognition: interplay between natural and artificial computation - Volume Part I
Year:
2005

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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.