Evolving bipedal locomotion with a dynamically-rearranging neural network

Akinobu Fujii, Akio Ishiguro, Takeshi Aoki, Peter Eggenberger

Research output: Chapter in Book/Report/Conference proceedingConference contribution

3 Citations (Scopus)


Since highly complicated interaction dynamics exist, it is in general extremely difficult to design controllers for legged robots. So far various methods have been proposed with the concept of neural circuits, so–called Central Pattern Generators(CPG). In contrast to these approaches in this article we use a polymorphic neural circuit instead, allowing the dynamic change of its properties according to the current situation in real time. To do so, we introduce the concept of neuromodulation with a diffusion–reaction mechanism of neuromodulators. Since there is currently no theory about how such dynamic neural networks can be created, the evolutionary approach is the method of choice to explore the interaction among the neuromodulators, receptors, synapses and neurons. We apply this neural network to the control of a 3–D biped robot which is intrinsically unstable. In this article, we will show our simulation results and provide some interesting points derived from the obtained results.

Original languageEnglish
Title of host publicationAdvances in Artificial Life - 6th European Conference, ECAL 2001, Proceedings
EditorsJozef Kelemen, Petr Sosik
PublisherSpringer Verlag
Number of pages10
ISBN (Print)3540425675, 9783540425670
Publication statusPublished - 2001
Externally publishedYes
Event6th European Conference on Advances in Artificial Life, ECAL 2001 - Prague, Czech Republic
Duration: 2001 Sep 102001 Sep 14

Publication series

NameLecture Notes in Computer Science (including subseries Lecture Notes in Artificial Intelligence and Lecture Notes in Bioinformatics)
ISSN (Print)0302-9743
ISSN (Electronic)1611-3349


Other6th European Conference on Advances in Artificial Life, ECAL 2001
Country/TerritoryCzech Republic

ASJC Scopus subject areas

  • Theoretical Computer Science
  • Computer Science(all)


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