Summary
The basic rhythmicity underlying animal locomotion is created by dedicated neural structures called central pattern generators (CPGs). We describe the implementation of such structures in simulation and their successful use for the control of bipedal walking. Artificial evolution (in the form of genetic algorithms) is used as the optimisation procedure.
Two CPG types are illustrated, the more advanced of which being based on recent theoretical findings on the nature of neural architectures required to drive animal locomotion.
It is shown that CPGs in conjunction with simple reflex responses as well as an appropriate mechanical implementation of the biped are capable of producing stable walking patterns on planar surfaces. This finding corroborates circumstantial experimental evidence that limited bipedal locomotion is possible without the employment of higher level control centres.
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Reil, T., Massey, C. Biologically inspired control of physically simulated bipeds. Theory Biosci. 120, 327–339 (2001). https://doi.org/10.1007/s12064-001-0026-8
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DOI: https://doi.org/10.1007/s12064-001-0026-8