Learning to Move in Modular Robots using Central Pattern Generators and Online Optimization
International Journal of Robotics Research
Perception for Action: Dynamic Spatiotemporal Patterns Applied on a Roving Robot
Adaptive Behavior - Animals, Animats, Software Agents, Robots, Adaptive Systems
International Journal of Intelligent Systems Technologies and Applications
A biologically inspired neural CPG for sea wave conditions/frequencies
ICONIP'08 Proceedings of the 15th international conference on Advances in neuro-information processing - Volume Part I
Hardware implementation of a CPG-based locomotion control for quadruped robots
ICANN'10 Proceedings of the 20th international conference on Artificial neural networks: Part II
A self-organizing map for controlling artificial locomotion
ICANN'10 Proceedings of the 20th international conference on Artificial neural networks: Part II
Robotics and Autonomous Systems
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In this paper, dynamical systems made up of locally coupled nonlinear units are used to control the locomotion of bio-inspired robots and, in particular, a simulation of an insect-like hexapod robot. These controllers are inspired by the biological paradigm of central pattern generators and are responsible for generating a locomotion gait. A general structure, which is able to change the locomotion gait according to environmental conditions, is introduced. This structure is based on an adaptive system, implemented by motor maps, and is able to learn the correct locomotion gait on the basis of a reward function. The proposed control system is validated by a large number of simulations carried out in a dynamic environment for simulating legged robots.