Oscillatory network controlling six-legged locomotion. Optimization of model parameters.
The model of a legged locomotory system is optimized to ensure stable motion, reliable with respect to different initial conditions. The cost function suggested is based on the frequency of the model's loss of stability evaluated for randomly chosen initial leg positions. The optimized model can start from the majority of allowed leg configurations, demonstrating stable walking at low and moderate speeds. Furthermore, an acceleration procedure is designed to permit the model to pick up practically every speed and then walk successfully.
Cymbalyuk
Gennady S.
GS
Neural Network Laboratory, Institute of Mathematical Problems in Biology RAS, Pushchino, Russia
Borisyuk
Roman M.
RM
Müller-Wilm
Uwe
U
Cruse
Holk
H