A Distributed Neural Network Architecture for Hexapod Robot Locomotion
Abstract
We present fully distributed neural network architecture for controlling the locomotion of a hexapod robot. The design of this network is directly based on work on the neuroethology of insect locomotion. Previously, we demonstrated in simulation that this controller could generate a continuous range of statically stable insect-like gaits as the activity of a single command neuron was varied and that it was robust to a variety of lesions. We now report that the controller can be utilized to direct the locomotion of an actual six-legged robot, and that it exhibits a range of gaits and degree of robustness in the real world that is quite similar to that observed in simulation.
Cite
Text
Beer et al. "A Distributed Neural Network Architecture for Hexapod Robot Locomotion." Neural Computation, 1992. doi:10.1162/NECO.1992.4.3.356Markdown
[Beer et al. "A Distributed Neural Network Architecture for Hexapod Robot Locomotion." Neural Computation, 1992.](https://mlanthology.org/neco/1992/beer1992neco-distributed/) doi:10.1162/NECO.1992.4.3.356BibTeX
@article{beer1992neco-distributed,
title = {{A Distributed Neural Network Architecture for Hexapod Robot Locomotion}},
author = {Beer, Randall D. and Chiel, Hillel J. and Quinn, Roger D. and Espenschied, Kenneth S. and Larsson, Patrik},
journal = {Neural Computation},
year = {1992},
pages = {356-365},
doi = {10.1162/NECO.1992.4.3.356},
volume = {4},
url = {https://mlanthology.org/neco/1992/beer1992neco-distributed/}
}