Reflex-oscillations in evolved single leg neurocontrollers for walking machines

  title={Reflex-oscillations in evolved single leg neurocontrollers for walking machines},
  author={Arndt von Twickel and Frank Pasemann},
  journal={Natural Computing},
As a prerequisite for developing neural control for walking machines that are able to autonomously navigate through rough terrain, artificial structure evolution is used to generate various single leg controllers. The structure and dynamical properties of the evolved (recurrent) neural networks are then analysed to identify elementary mechanisms of sensor-driven walking behaviour. Based on the biological understanding that legged locomotion implies a highly decentralised and modular control… CONTINUE READING
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