Abstract

This article describes how the SGOCE paradigm has been used within the context of a 'minimal simulation' strategy to evolve neural networks controlling locomotion and obstacle avoidance in a six-legged robot. A standard genetic algorithm has been used to evolve developmental programs according to which recurrent networks of leaky-integrator neurons were grown in a user-provided developmental substrate and were connected to the robot's sensors and actuators. Specific grammars have been used to limit the complexity of the developmental programs and of the corresponding neural controllers. Such controllers were first evolved through simulation and then successfully downloaded on the real robot.

Talk to us

Join us for a 30 min session where you can share your feedback and ask us any queries you have

Schedule a call

Disclaimer: All third-party content on this website/platform is and will remain the property of their respective owners and is provided on "as is" basis without any warranties, express or implied. Use of third-party content does not indicate any affiliation, sponsorship with or endorsement by them. Any references to third-party content is to identify the corresponding services and shall be considered fair use under The CopyrightLaw.