Genetic programming approach to the construction of a neural network for control of a walking robot

@article{Lewis1992GeneticPA,
  title={Genetic programming approach to the construction of a neural network for control of a walking robot},
  author={M. Anthony Lewis and Andrew H. Fagg and Alan Solidum},
  journal={Proceedings 1992 IEEE International Conference on Robotics and Automation},
  year={1992},
  pages={2618-2623 vol.3}
}
The authors describe the staged evolution of a complex motor pattern generator (MPG) for the control of a walking robot. The experiments were carried out on a six-legged, Brooks-style insect robot. The MPG was composed of a network of neurons with weights determined by genetic algorithm optimization. Staged evolution was used to improve the convergence rate of the algorithm. First, an oscillator for the individual leg movements was evolved. Then, a network of these oscillators was evolved to… CONTINUE READING

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