This chapter addresses optimisation of a class of biological neural networks, called Central
Pattern Generators (CPGs), with a view to providing autonomous, reactive control to …

Central Pattern Generators (CPGs) are neural networks located in the spine of animals that
are responsible for the control of rhythmic movements. Although they are controlled by very …

This paper shows that the lamprey's neural swimming controller (central pattern generator
(CPG)) is not a unique solution and that improved performance can be obtained by evolving …

This article describes the design of neural control architectures for locomotion using an
evolutionary approach. Inspired by the central pattern generators found in animals, we …

This dissertation investigates the evolutionary design of oscillatory artificial neural networks
for the control of animal-like locomotion. It is inspired by the neural organisation of locomotor …

This article is concerned with the design of synthetic central pattern generators (CPGs).
Biological CPGs are neural circuits that determine a variety of rhythmic activities, including …

'Super-lamprey'swimmers which operate over a greater control range are evolved.
Propulsion in the lamprey, an eel-like fish, is governed by activity in its spinal neural …

The control of robotic locomotion poses important challenges. In particular, we are still very
far from achieving robotic locomotion control with the same degree of robustness and …

The control of locomotion in legged robot and especially in humanoid robots is the first step
to embodied cognition and intelligence. This is the step that allows the robot to interact and …

Central pattern generators (CPGs) have traditionally been modeled as sets of coupled
bistable oscillators (Marder and Calabrese, Physiol. Rev. 76 (3)(1996) 687–717). We …