HAL Id: hal-01021228https://hal.archives-ouvertes.fr/hal-01021228

Submitted on 9 Jul 2014

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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