Evolving neural networks through augmenting topologies
Evolutionary Computation
Evolution of Controllers from a High-Level Simulator to a High DOF Robot
ICES '00 Proceedings of the Third International Conference on Evolvable Systems: From Biology to Hardware
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
A Taxonomy for artificial embryogeny
Artificial Life
Compositional pattern producing networks: A novel abstraction of development
Genetic Programming and Evolvable Machines
Modular neuroevolution for multilegged locomotion
Proceedings of the 10th annual conference on Genetic and evolutionary computation
Exploiting functional relationships in musical composition
Connection Science - Music, Brain, Cognition
How novelty search escapes the deceptive trap of learning to learn
Proceedings of the 11th Annual conference on Genetic and evolutionary computation
A comparison between cellular encoding and direct encoding for genetic neural networks
GECCO '96 Proceedings of the 1st annual conference on Genetic and evolutionary computation
Competitive coevolution through evolutionary complexification
Journal of Artificial Intelligence Research
Evolving coordinated quadruped gaits with the HyperNEAT generative encoding
CEC'09 Proceedings of the Eleventh conference on Congress on Evolutionary Computation
Indirect encoding of neural networks for scalable go
PPSN'10 Proceedings of the 11th international conference on Parallel problem solving from nature: Part I
Evolving a single scalable controller for an octopus arm with a variable number of segments
PPSN'10 Proceedings of the 11th international conference on Parallel problem solving from nature: Part II
Abandoning objectives: Evolution through the search for novelty alone
Evolutionary Computation
Picbreeder: A case study in collaborative evolutionary exploration of design space
Evolutionary Computation
Evolving the walking behaviour of a 12 DOF quadruped using a distributed neural architecture
BioADIT'06 Proceedings of the Second international conference on Biologically Inspired Approaches to Advanced Information Technology
Evolution of central pattern generators for bipedal walking in areal-time physics environment
IEEE Transactions on Evolutionary Computation
IEEE Transactions on Neural Networks
EvoApplications'13 Proceedings of the 16th European conference on Applications of Evolutionary Computation
Confronting the challenge of learning a flexible neural controller for a diversity of morphologies
Proceedings of the 15th annual conference on Genetic and evolutionary computation
Critical factors in the performance of hyperNEAT
Proceedings of the 15th annual conference on Genetic and evolutionary computation
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Legged robots can potentially venture beyond the limits of wheeled vehicles. While creating controllers for such robots by hand is possible, evolutionary algorithms are an alternative that can reduce the burden of hand-crafting robotic controllers. Although major evolutionary approaches to legged locomotion can generate oscillations through popular techniques such as continuous time recurrent neural networks (CTRNNs) or sinusoidal input, they typically face a challenge in maintaining long-term stability. The aim of this paper is to address this challenge by introducing an effective alternative based on a new type of neuron called a single-unit pattern generator (SUPG). The SUPG, which is indirectly encoded by a compositional pattern producing network (CPPN) evolved by HyperNEAT, produces a flexible temporal activation pattern that can be reset and repeated at any time through an explicit trigger input, thereby allowing it to dynamically recalibrate over time to maintain stability. The SUPG approach, which is compared to CTRNNs and sinusoidal input, is shown to produce natural-looking gaits that exhibit superior stability over time, thereby providing a new alternative for evolving oscillatory locomotion.