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HAL Id: hal-01021228https://hal.archives-ouvertes.fr/hal-01021228
Submitted on 9 Jul 2014
HAL is a multi-disciplinary open accessarchive for the deposit and dissemination of sci-entific research documents, whether they are pub-lished or not. The documents may come fromteaching and research institutions in France orabroad, or from public or private research centers.
L’archive ouverte pluridisciplinaire HAL, estdestinée au dépôt et à la diffusion de documentsscientifiques de niveau recherche, publiés ou non,émanant des établissements d’enseignement et derecherche français ou étrangers, des laboratoirespublics ou privés.
Evolution of neural controllers for locomotion andobstacle-avoidance in a 6-legged robot
David Filliat, J. Kodjabachian, J.-A. Meyer
To cite this version:David Filliat, J. Kodjabachian, J.-A. Meyer. Evolution of neural controllers for locomotion andobstacle-avoidance in a 6-legged robot. Connection Science, Taylor & Francis, 1999, 11, pp.223–240.<hal-01021228>
Step 1 Step 2
Step 3 Step 4Final phenotype
2
2 22
1-1-1
-1-1
-1
DRAW(.5,10,2)
DIVIDE(.8,5)
DIE GROW(.9,10,1)
SETTAU(.5)
GROW(.1,10,-1)
M0 M1
S0
precursor cell
motoneurons
x
y
DIE GROW(.9,10,1)
SETTAU(.5)
Organism
Environment
sensory cell
SubstrateDevelopmentalGenotype
M0 M1
S0
DRAW(.5,10,2)
DIVIDE(.8,5)
DIE GROW(.9,10,1)
SETTAU(.5)
GROW(.1,10,-1)
M0 M1
S0
DRAW(.5,10,2)
DIVIDE(.8,5)
GROW(.1,10,-1)
M0 M1
S0
DRAW(.5,10,2)
DIVIDE(.8,5)
DIE GROW(.9,10,1)
GROW(.1,10,-1)
M0 M1
S0
DRAW(.5,10,2)
DIVIDE(.8,5)
GROW(.1,10,-1)
GROW(.9,10,1)DIE
SETTAU(.5) SETTAU(.5)
Right IR sensor Right motors
Left motorsLeft IR sensor
Module 2 Module 1
Motoneuron Precursor cell Sensory cell
Developmental Program Xi
Neural Controller
BehaviorFitness Evaluation
Xi