Evolutionary Deployment of Central Pattern Generators for Legged Robots Using Nengo

Ricardo Pérez-López; Andrés Espinal; Marco Sotelo-Figueroa; Erick I. Guerra-Hernandez; Patricia Batres-Mendoza; Horacio Rostro-Gonzalez

doi:10.1007/978-3-031-53713-4_12

Evolutionary Deployment of Central Pattern Generators for Legged Robots Using Nengo

Ricardo Pérez-López, Andrés Espinal, Marco Sotelo-Figueroa, Erick I. Guerra-Hernandez, Patricia Batres-Mendoza, Horacio Rostro-Gonzalez

Producció científica: Capítol de llibre › Capítol › Avaluat per experts

Resum

In this paper, we present an evolutionary design methodology of Central Pattern Generator (CPG)-based locomotion systems for hexapod and quadrupedal robots. The CPGs are built as Spiking Neural Networks, whose synaptic connections and weights are directly configured by an evolutionary algorithm in order that CPGs generate rhythmic and periodical signals to carry out robotic locomotion. The CPGs are fully designed and implemented using Nengo simulator. There were obtained CPGs for different locomotion patterns for both, hexapod and quadruped robots. The obtained CPGs achieve behaviours reported in the state of the art with smaller architectures.

Idioma original	Anglès
Títol de la publicació	Studies in Computational Intelligence
Editor	Springer Science and Business Media Deutschland GmbH
Pàgines	141-155
Nombre de pàgines	15
DOIs	https://doi.org/10.1007/978-3-031-53713-4_12
Estat de la publicació	Publicada - d’abr. 2024

Sèrie de publicacions

Nom	Studies in Computational Intelligence
Volum	1146
ISSN (imprès)	1860-949X
ISSN (electrònic)	1860-9503

Accés al document

10.1007/978-3-031-53713-4_12

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Com citar-ho

Pérez-López, R., Espinal, A., Sotelo-Figueroa, M., Guerra-Hernandez, E. I., Batres-Mendoza, P., & Rostro-Gonzalez, H. (2024). Evolutionary Deployment of Central Pattern Generators for Legged Robots Using Nengo. In Studies in Computational Intelligence (pàg. 141-155). (Studies in Computational Intelligence; Vol. 1146). Springer Science and Business Media Deutschland GmbH. https://doi.org/10.1007/978-3-031-53713-4_12

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abstract = "In this paper, we present an evolutionary design methodology of Central Pattern Generator (CPG)-based locomotion systems for hexapod and quadrupedal robots. The CPGs are built as Spiking Neural Networks, whose synaptic connections and weights are directly configured by an evolutionary algorithm in order that CPGs generate rhythmic and periodical signals to carry out robotic locomotion. The CPGs are fully designed and implemented using Nengo simulator. There were obtained CPGs for different locomotion patterns for both, hexapod and quadruped robots. The obtained CPGs achieve behaviours reported in the state of the art with smaller architectures.",

keywords = "Central pattern generator, Evolutionary algorithm, Nengo, Spiking neural network",

author = "Ricardo P{\'e}rez-L{\'o}pez and Andr{\'e}s Espinal and Marco Sotelo-Figueroa and Guerra-Hernandez, {Erick I.} and Patricia Batres-Mendoza and Horacio Rostro-Gonzalez",

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Pérez-López, R, Espinal, A, Sotelo-Figueroa, M, Guerra-Hernandez, EI, Batres-Mendoza, P & Rostro-Gonzalez, H 2024, Evolutionary Deployment of Central Pattern Generators for Legged Robots Using Nengo. in Studies in Computational Intelligence. Studies in Computational Intelligence, vol. 1146, Springer Science and Business Media Deutschland GmbH, pàg. 141-155. https://doi.org/10.1007/978-3-031-53713-4_12

Evolutionary Deployment of Central Pattern Generators for Legged Robots Using Nengo. / Pérez-López, Ricardo; Espinal, Andrés; Sotelo-Figueroa, Marco et al.
Studies in Computational Intelligence. Springer Science and Business Media Deutschland GmbH, 2024. pàg. 141-155 (Studies in Computational Intelligence; Vol. 1146).

Producció científica: Capítol de llibre › Capítol › Avaluat per experts

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