1. Simulated 3D biped walking with an evolution-strategy tuned spiking neural network
- Creator:
- Wiklendt, Lukasz, Chalup, Stephan K. , and Seron , María M.
- Format:
- bez média and svazek
- Type:
- model:article and TEXT
- Subject:
- Spiking neurons, evolution strategy, and biped locomotion
- Language:
- English
- Description:
- This paper presents the results of experiments in applying a spiking neural network to control the locomotion of a simulated biped robot. The neural model used in simulations was developed to allow for an analytic solution to a neuron fire time, while maintaining a non-instant post-synaptic potential rise time. The synaptic weights and delays were tuned using an evolution strategy. Simulation experiments demonstrate that within about seven thousand generations the biped is able to acquire a dynamic walk which allows it to walk upright for several metres.
- Rights:
- http://creativecommons.org/publicdomain/mark/1.0/ and policy:public