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Poramate Manoonpong, Frank Pasemann, and Joern Fischer (2005)

Modular Neural Control for a Reactive Behavior of Walking Machines

In: Proceedings of the Sixth IEEE Symposium on Computational Intelligence in Robotics and Automation (CIRA 2005). IEEE, pages 403–408.  (export entry)


Computational Neuroscience
A small modular neural network is presented which is able to control the sensor-driven behavior of walking machines with many degrees of freedom. The controller is composed of a so called minimal recurrent controller (MRC) for sensory signal processing, a SO(2)–network as neural oscillator to generate the rhythmic leg movements, and a velocity regulating network (VRN) which expands the steering capabilities of the walking machine. This recurrent neurocontroller enables the machine to explore an in-door environment by avoiding obstacles. It was developed and tested using a physical simulation environment, and was then successfully transferred to the physical four-legged walking machine, called AMOS-WD02.