NDLI: Walknet, a bio-inspired controller for hexapod walking

Content Provider	Springer Nature Link
Author	Schilling, Malte Hoinville, Thierry Schmitz, Josef Cruse, Holk
Copyright Year	2013
Abstract	Walknet comprises an artificial neural network that allows for the simulation of a considerable amount of behavioral data obtained from walking and standing stick insects. It has been tested by kinematic and dynamic simulations as well as on a number of six-legged robots. Over the years, various different expansions of this network have been provided leading to different versions of Walknet. This review summarizes the most important biological findings described by Walknet and how they can be simulated. Walknet shows how a number of properties observed in insects may emerge from a decentralized architecture. Examples are the continuum of so-called “gaits,” coordination of up to 18 leg joints during stance when walking forward or backward over uneven surfaces and negotiation of curves, dealing with leg loss, as well as being able following motion trajectories without explicit precalculation. The different Walknet versions are compared to other approaches describing insect-inspired hexapod walking. Finally, we briefly address the ability of this decentralized reactive controller to form the basis for the simulation of higher-level cognitive faculties exceeding the capabilities of insects.
Starting Page	397
Ending Page	419
Page Count	23
File Format	PDF
ISSN	03401200
Journal	Biological Cybernetics
Volume Number	107
Issue Number	4
e-ISSN	14320770
Language	English
Publisher	Springer Berlin Heidelberg
Publisher Date	2013-07-04
Publisher Place	Berlin/Heidelberg
Access Restriction	One Nation One Subscription (ONOS)
Subject Keyword	Insect locomotion Motor control Decentralized architecture Neurosciences Computer Application in Life Sciences Neurobiology Bioinformatics Statistical Physics, Dynamical Systems and Complexity
Content Type	Text
Resource Type	Article
Subject	Computer Science Biotechnology

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