- Title
- Simulated 3D biped walking with an evolution-strategy tuned spiking neural network
- Creator
- Wiklendt, Lukasz; Chalup, Stephan K.; Seron, María M.
- Relation
- Neural Network World Vol. 19, Issue 2, p. 235-246
- Relation
- http://www.nnw.cz/obsahy09.html#2-2009
- Publisher
- Akademie Ved Ceske Republiky, Ustav Informatiky
- Resource Type
- journal article
- Date
- 2009
- 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.
- Subject
- spiking neurons; evolution strategy; biped locomotion
- Identifier
- http://hdl.handle.net/1959.13/809050
- Identifier
- uon:7806
- Identifier
- ISSN:1210-0552
- Language
- eng
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Thumbnail | File | Description | Size | Format | |||
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View Details Download | ATTACHMENT01 | Publisher version (open access) | 565 KB | Adobe Acrobat PDF | View Details Download |