Title :
Evolution and analysis of non-autonomous neural networks for walking: reflexive pattern generators
Author :
Gallagher, John C.
Author_Institution :
Dept. of Comput. Sci. & Eng., Wright State Univ., Dayton, OH, USA
Abstract :
This paper summarizes the results of the dynamical systems analysis of 422 Continuous-Time Recurrent Neural Network (CTRNN) single-leg locomotion controllers evolved under conditions where reliable sensory information was always available. The general principles underlying the operation of all 422 resulting Reflexive Pattern Generators (RPGs) are discussed. Several RPG operation features are explained and verified. Finally, discussion is made of future extensions of this research
Keywords :
pattern recognition; recurrent neural nets; systems analysis; continuous-time recurrent neural network; dynamical systems analysis; non-autonomous neural networks; operation features; reflexive pattern generators; sensory information; single-leg locomotion controllers; walking; Circuits; Clocks; Foot; Leg; Legged locomotion; Neural networks; Neurons; Pattern analysis; Propulsion; Recurrent neural networks;
Conference_Titel :
Evolutionary Computation, 2001. Proceedings of the 2001 Congress on
Conference_Location :
Seoul
Print_ISBN :
0-7803-6657-3
DOI :
10.1109/CEC.2001.934396
