Experiments in learning distributed control for a hexapod robot

  title={Experiments in learning distributed control for a hexapod robot},
  author={Tim D. Barfoot and Ernest J. P. Earon and Gabriele M. T. D'Eleuterio},
  journal={Robotics and Autonomous Systems},
This paper reports on experiments involving a hexapod robot. Motivated by neurobiological evidence that control in real hexapod insects is distributed leg-wise, we investigated two approaches to learning distributed controllers: genetic algorithms and reinforcement learning. In the case of reinforcement learning, a new learning algorithm was developed to encourage cooperation between legs. Results from both approaches are presented and compared. c © 2006 Published by Elsevier B.V. 
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