- Title
- Quadratic leaky integrate-and-fire neural network tuned with an evolution-strategy for a simulated 3D biped walking controller
- Creator
- Wiklendt, Lukasz; Chalup, Stephan K.; Seron, Maria M.
- Relation
- 8th International Conference on Hybrid Intelligent Systems (HIS 2008). Proceedings of the 8th International Conference on Hybrid Intelligent Systems, HIS 2008 (Barcelona, Spain 10-12 September, 2008) p. 144-149
- Publisher Link
- http://dx.doi.org/10.1109/HIS.2008.146
- Publisher
- Institute of Electrical and Electronics Engineers (IEEE)
- Resource Type
- conference paper
- Date
- 2008
- 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's 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 already within about two thousand generations the biped is able to acquire a dynamic walk which allows it to walk upright for several metres.
- Subject
- biped walk; evolution; spiking neural network
- Identifier
- uon:6073
- Identifier
- http://hdl.handle.net/1959.13/45473
- Identifier
- ISBN:9780769533261
- Rights
- Copyright © 2008 IEEE. Reprinted from the 8th International Conference on Hybrid Intelligent Systems (HIS 2008). This material is posted here with permission of the IEEE. Such permission of the IEEE does not in any way imply IEEE endorsement of any of the University of Newcastle's products or services. Internal or personal use of this material is permitted. However, permission to reprint/republish this material for advertising or promotional purposes or for creating new collective works for resale or redistribution must be obtained from the IEEE by writing to pubs-permissions@ieee.org. By choosing to view this document, you agree to all provisions of the copyright laws protecting it.
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