Details

Autor(en) / Beteiligte

• Wiklendt, L.
• Chalup, S.K.
• Seron, M.M.

Titel

Quadratic Leaky Integrate-and-Fire Neural Network Tuned with an Evolution-Strategy for a Simulated 3D Biped Walking Controller

Ist Teil von

• 2008 Eighth International Conference on Hybrid Intelligent Systems, 2008, p.144-149

Ort / Verlag

IEEE

Erscheinungsjahr

2008

Quelle

IEEE Electronic Library Online

Beschreibungen/Notizen

• This paper presents the results of experiments in applying a spiking neural network to control the locomotion of a simulated biped robot. The neural model used in simulations was developed to allow for an analytic solution to a neuron's fire time, while maintaining a non-instant post-synaptic potential rise time. The synaptic weights and delays were tuned using an evolution-strategy. Simulation experiments demonstrate that already within about two thousand generations the biped is able to acquire a dynamic walk which allows it to walk upright for several metres.