DocumentCode :
2678907
Title :
Complex networks of simple neurons for bipedal locomotion
Author :
Allen, Brian ; Faloutsos, Petros
Author_Institution :
Dept. of Comput. Sci., Univ. of California, Los Angeles, CA, USA
fYear :
2009
fDate :
10-15 Oct. 2009
Firstpage :
4457
Lastpage :
4462
Abstract :
Fluid bipedal locomotion remains a significant challenge for humanoid robotics. Recent bio-inspired approaches have made significant progress by using small numbers of tightly coupled neurons, called central pattern generators (CPGs). Our approach exchanges complexity of the neuron model for complexity of the network, gradually building a network of simple neurons capable of complex behaviors. We show this approach generates controllers de novo that are able to control 3D bipedal locomotion up to 10 meters. This results holds for robots with human-proportionate morphologies across 95% of normal human variation. The resulting networks are then examined to discover neural structures that arise unusually often, lending some insight into the workings of otherwise opaque controllers.
Keywords :
humanoid robots; legged locomotion; 3D bipedal locomotion; central pattern generators; complex networks; fluid bipedal locomotion; humanoid robotics; simple neurons; Biological control systems; Biological system modeling; Complex networks; Foot; Humanoid robots; Humans; Intelligent robots; Legged locomotion; Morphology; Neurons;
fLanguage :
English
Publisher :
ieee
Conference_Titel :
Intelligent Robots and Systems, 2009. IROS 2009. IEEE/RSJ International Conference on
Conference_Location :
St. Louis, MO
Print_ISBN :
978-1-4244-3803-7
Electronic_ISBN :
978-1-4244-3804-4
Type :
conf
DOI :
10.1109/IROS.2009.5354077
Filename :
5354077
Link To Document :
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