Robust simulation of lamprey tracking

Authors:
Matthew Beauregard;Paul J. Kennedy
Affiliations:
Faculty of IT, University of Technology, Sydney, Broadway, NSW, Australia;Faculty of IT, University of Technology, Sydney, Broadway, NSW, Australia
Venue:
PPSN'06 Proceedings of the 9th international conference on Parallel Problem Solving from Nature
Year:
2006

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Abstract

Biologically realistic computer simulation of vertebrates is a challenging problem with exciting applications in computer graphics and robotics. Once the mechanics of locomotion are available it is interesting to mediate this locomotion with higher level behavior such as target tracking. One recent approach simulates a relatively simple vertebrate, the lamprey, using recurrent neural networks to model the central pattern generator of the spine and a physical model for the body. Target tracking behavior has also been implemented for such a model. However, previous approaches suffer from deficiencies where particular orientations of the body to the target cause the central pattern generator to shutdown. This paper describes an approach to making target tracking more robust.