Robust Simulation of Lamprey Tracking

  • Matthew Beauregard
  • Paul J. Kennedy
Part of the Lecture Notes in Computer Science book series (LNCS, volume 4193)


Biologically realistic computer simulation of vertebrates is a challenging problem with exciting applications in computer graphics and robotics. Once the mechanics of locomotion are available it is interesting to mediate this locomotion with higher level behavior such as target tracking. One recent approach simulates a relatively simple vertebrate, the lamprey, using recurrent neural networks to model the central pattern generator of the spine and a physical model for the body. Target tracking behavior has also been implemented for such a model. However, previous approaches suffer from deficiencies where particular orientations of the body to the target cause the central pattern generator to shutdown. This paper describes an approach to making target tracking more robust.


Recurrent Neural Network Target Tracking Dead Zone Central Pattern Generator Leaky Integrator 
These keywords were added by machine and not by the authors. This process is experimental and the keywords may be updated as the learning algorithm improves.


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Copyright information

© Springer-Verlag Berlin Heidelberg 2006

Authors and Affiliations

  • Matthew Beauregard
    • 1
  • Paul J. Kennedy
    • 1
  1. 1.Faculty of ITUniversity of Technology, SydneyBroadwayAustralia

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