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Adaptation of a distributed controller depending on morphology


Labhart, N; Miyashita, S (2008). Adaptation of a distributed controller depending on morphology. Artificial Life and Robotics, 12(1-2):38-42.

Abstract

In this paper, we investigate the influence of an agent’s morphology on its neural controller. Our model consists of a number of identical modules, each of which comprises two half-wheels for movement and a central pattern generator (CPG) as its own neural control. Based on a series of simulation experiments, we conclude that one single type of CPG can adapt well to different types of morphologies, and that there seems to be a suitable or optimal morphology depending on the environmental givens.

Abstract

In this paper, we investigate the influence of an agent’s morphology on its neural controller. Our model consists of a number of identical modules, each of which comprises two half-wheels for movement and a central pattern generator (CPG) as its own neural control. Based on a series of simulation experiments, we conclude that one single type of CPG can adapt well to different types of morphologies, and that there seems to be a suitable or optimal morphology depending on the environmental givens.

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Additional indexing

Item Type:Journal Article, refereed, original work
Communities & Collections:03 Faculty of Economics > Department of Informatics
Dewey Decimal Classification:000 Computer science, knowledge & systems
Language:English
Date:March 2008
Deposited On:09 Jan 2009 11:49
Last Modified:05 Apr 2016 12:47
Publisher:Springer
ISSN:1433-5298
Additional Information:This work was presented in part at the 12th International Symposium on Artifi cial Life and Robotics, Oita, Japan, January 25–27, 2007.
Publisher DOI:https://doi.org/10.1007/s10015-007-0438-8
Official URL:http://www.ifi.uzh.ch/pax/web/index.php/publication/show/id/903

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