Simulated 3D biped walking with an evolution-strategy tuned spiking neural network

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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