288 pp. per issue
6 x 9, illustrated
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Neural Computation

May 1992, Vol. 4, No. 3, Pages 356-365
(doi: 10.1162/neco.1992.4.3.356)
© 1992 Massachusetts Institute of Technology
A Distributed Neural Network Architecture for Hexapod Robot Locomotion
Article PDF (498.84 KB)

We present fully distributed neural network architecture for controlling the locomotion of a hexapod robot. The design of this network is directly based on work on the neuroethology of insect locomotion. Previously, we demonstrated in simulation that this controller could generate a continuous range of statically stable insect-like gaits as the activity of a single command neuron was varied and that it was robust to a variety of lesions. We now report that the controller can be utilized to direct the locomotion of an actual six-legged robot, and that it exhibits a range of gaits and degree of robustness in the real world that is quite similar to that observed in simulation.