Deriving neural network controllers from neuro-biological data: implementation of a single-leg stick insect controller

DC FieldValueLanguage
dc.contributor.authorvon Twickel, Arndt
dc.contributor.authorBueschges, Ansgar
dc.contributor.authorPasemann, Frank
dc.date.accessioned2021-12-23T16:13:54Z-
dc.date.available2021-12-23T16:13:54Z-
dc.date.issued2011
dc.identifier.issn03401200
dc.identifier.urihttps://osnascholar.ub.uni-osnabrueck.de/handle/unios/10808-
dc.description.abstractThis article presents modular recurrent neural network controllers for single legs of a biomimetic six-legged robot equipped with standard DC motors. Following arguments of Ekeberg et al. (Arthropod Struct Dev 33:287-300, 2004), completely decentralized and sensori-driven neuro-controllers were derived from neuro-biological data of stick-insects. Parameters of the controllers were either hand-tuned or optimized by an evolutionary algorithm. Employing identical controller structures, qualitatively similar behaviors were achieved for robot and for stick insect simulations. For a wide range of perturbing conditions, as for instance changing ground height or up- and downhill walking, swing as well as stance control were shown to be robust. Behavioral adaptations, like varying locomotion speeds, could be achieved by changes in neural parameters as well as by a mechanical coupling to the environment. To a large extent the simulated walking behavior matched biological data. For example, this was the case for body support force profiles and swing trajectories under varying ground heights. The results suggest that the single-leg controllers are suitable as modules for hexapod controllers, and they might therefore bridge morphological- and behavioral-based approaches to stick insect locomotion control.
dc.description.sponsorshipDFGGerman Research Foundation (DFG)European Commission [Pa 480/6-1, Bu 857/9-1]; This study was supported by DFG grants (Pa 480/6-1 and Bu 857/9-1). We would like to thank Holk Cruse and the anonymous reviewers for valuable comments, and Marcus Blumel and Christian Rempis for helpful discussions.
dc.language.isoen
dc.publisherSPRINGER
dc.relation.ispartofBIOLOGICAL CYBERNETICS
dc.subjectCARAUSIUS-MOROSUS
dc.subjectCENTRAL PATTERN GENERATORS
dc.subjectComputer Science
dc.subjectComputer Science, Cybernetics
dc.subjectCONTROL-SYSTEM
dc.subjectINTERSEGMENTAL COORDINATION
dc.subjectJOINT ANGLES
dc.subjectLOCAL INTERNEURONS
dc.subjectMIDDLE LEG
dc.subjectMOTOR CONTROL
dc.subjectNeural network
dc.subjectNeurosciences
dc.subjectNeurosciences & Neurology
dc.subjectRobotics
dc.subjectSEARCHING MOVEMENTS
dc.subjectSensori-motor loops
dc.subjectWalking control
dc.subjectWALKING MOVEMENTS
dc.titleDeriving neural network controllers from neuro-biological data: implementation of a single-leg stick insect controller
dc.typejournal article
dc.identifier.doi10.1007/s00422-011-0422-1
dc.identifier.isiISI:000287851400007
dc.description.volume104
dc.description.issue1-2
dc.description.startpage95
dc.description.endpage119
dc.identifier.eissn14320770
dc.publisher.place233 SPRING ST, NEW YORK, NY 10013 USA
dcterms.isPartOf.abbreviationBiol. Cybern.
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