Evolved Neural Reflex-Oscillators for Walking Machines

  • Arndt von Twickel
  • Frank Pasemann
Conference paper
Part of the Lecture Notes in Computer Science book series (LNCS, volume 3561)


Legged locomotion has not been understood well enough to build walking machines that autonomously navigate through rough terrain. The current biological understanding of legged locomotion implies a highly decentralised and modular control structure. Neurocontrollers were developed for single, morphological distinct legs of a hexapod walking machine through artificial evolution and physical simulation. The results showed extremely small reflex-oscillators which inherently relied on the sensori-motor loop and a hysteresis effect. Relationships with biological findings are shortly discussed.


Central Pattern Generator Rough Terrain Stick Insect Gastric Mill Neural Feedback 
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Copyright information

© Springer-Verlag Berlin Heidelberg 2005

Authors and Affiliations

  • Arndt von Twickel
    • 1
  • Frank Pasemann
    • 1
  1. 1.Fraunhofer Institute AISSankt AugustinGermany

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