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Human walking is a dynamic, partly self-stabilizing process relying on the interaction of the biomechanical design with its neuronal control. The coordination of this process is a very difficult problem, and it has been suggested that it involves a hierarchy of levels, where the lower ones, e.g., interactions between muscles and the spinal cord, are largely(More)
* Controlling sensori-motor systems in higher animals or complex robots is a challenging combinatorial problem, because many sensory signals need to be simultaneously coordinated into a broad behavioural spectrum. To rapidly interact with the environment, this control needs to be fast and adaptive. Present robotic solutions operate with limited autonomy and(More)
Living creatures, like walking animals, have found fascinating solutions for the problem of locomotion control. Their movements show the impression of elegance including versatile, energy-efficient, and adaptable locomotion. During the last few decades, roboticists have tried to imitate such natural properties with artificial legged locomotion systems by(More)
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 neuro-dynamics, and is ofmodular structure. One module isfor processing sensor signals, one is a neural oscillator network serving as a central pattern generator,(More)
This case study demonstrates how the synthesis and the analysis of minimal recurrent neural robot control provide insights into the exploration of embodiment. By using structural evolution, minimal recurrent neural networks of general type were evolved for behavior control. The small size of the neural structures facilitates thorough investigations of(More)
— In chaos control, an originally chaotic system is modified so that periodic dynamics arise. One application of this is to use the periodic dynamics of a single chaotic system as walking patterns in legged robots. In our previous work we applied such a controlled chaotic system as a central pattern generator (CPG) to generate different gait patterns of our(More)
— Spiders can sense sounds in a frequency range between approximately 40 and 600 Hz by the use of hairs; they can detect e.g. the puff of wind of buzzing flies. On the contrary, scorpions use hairs as tactile sensors for obstacle avoidance. To integrate the advantages of both types of sensoric hairs, this article presents an artificial auditory-tactile(More)