Intelligence as adaptive behavior: an experiment in computational neuroethology
Intelligence as adaptive behavior: an experiment in computational neuroethology
Autonomous Robots
Biologically inspired approaches to robotics: what can we learn from insects?
Communications of the ACM
Understanding intelligence
An Behavior-based Robotics
Neurotechnology for Biomimetic Robots
Neurotechnology for Biomimetic Robots
Running Across the Reality Gap: Octopod Locomotion Evolved in a Minimal Simulation
Proceedings of the First European Workshop on Evolutionary Robotics
Mobile Robot Miniaturisation: A Tool for Investigation in Control Algorithms
The 3rd International Symposium on Experimental Robotics III
Dynamical Neural Schmitt Trigger for Robot Control
ICANN '02 Proceedings of the International Conference on Artificial Neural Networks
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 hybrid architecture for adaptive robot control
A hybrid architecture for adaptive robot control
A Reflexive Neural Network for Dynamic Biped Walking Control
Neural Computation
Synchronization of Internal Neural Rhythms in Multi-Robotic Systems
Adaptive Behavior - Animals, Animats, Software Agents, Robots, Adaptive Systems
SO(2)-networks as neural oscillators
IWANN'03 Proceedings of the Artificial and natural neural networks 7th international conference on Computational methods in neural modeling - Volume 1
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
Robotics and Autonomous Systems
Robotics and Autonomous Systems
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A neurocontroller is described which generates the basic locomotion and controls the sensor-driven behavior of a four-legged and a six-legged walking machine. The controller utilizes discrete-time neurodynamics, and is of modular structure. One module is for processing sensor signals, one is a neural oscillator network serving as a central pattern generator, and the third one is a so-called velocity regulating network. These modules are small and their structures and their functionalities are analyzable. In combination, they enable the machines to autonomously explore an unknown environment, to avoid obstacles, and to escape from corners or deadlock situations. The neurocontroller was developed and tested first using a physical simulation environment, and then it was successfully transferred to the physical walking machines. Locomotion is based on a gait where the diagonal legs are paired and move together, e.g. trot gait for the four-legged walking machine and tripod gait for the six-legged walking machine. The controller developed is universal in the sense that it can easily be adapted to different types of even-legged walking machines without changing the internal structure and its parameters.