Evolving bipedal locomotion with a dynamically-rearranging neural network

Akinobu Fujii, Akio Ishiguro, Takeshi Aoki, Peter Eggenberger

研究成果: Conference contribution

3 被引用数 (Scopus)

抄録

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.

本文言語English
ホスト出版物のタイトルAdvances in Artificial Life - 6th European Conference, ECAL 2001, Proceedings
編集者Jozef Kelemen, Petr Sosik
出版社Springer Verlag
ページ509-518
ページ数10
ISBN(印刷版)3540425675, 9783540425670
DOI
出版ステータスPublished - 2001
外部発表はい
イベント6th European Conference on Advances in Artificial Life, ECAL 2001 - Prague, Czech Republic
継続期間: 2001 9 102001 9 14

出版物シリーズ

名前Lecture Notes in Computer Science (including subseries Lecture Notes in Artificial Intelligence and Lecture Notes in Bioinformatics)
2159
ISSN(印刷版)0302-9743
ISSN(電子版)1611-3349

Other

Other6th European Conference on Advances in Artificial Life, ECAL 2001
CountryCzech Republic
CityPrague
Period01/9/1001/9/14

ASJC Scopus subject areas

  • Theoretical Computer Science
  • Computer Science(all)

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