The University of Edinburgh -
Division of Informatics
Forrest Hill & 80 South Bridge

Research Paper #876

Title:Evolving Swimming Controllers for a Simulated Lamprey with Inspiration from Neurobiology
Authors:Ijspeert,AJ; Hallam,JC; Willshaw,D
Date:Jan 1998
Presented:This is an extended version of a paper submitted to Adaptive Behavior
Abstract:This paper presents how neural swimming controllers for a simulated lamprey can be developed using evolutionary algorithms. A Genetic Algorithm is used for evolving the architecture of a connectionist model which determines the muscular activity of a simulated body. This work is inspired by the biological model developed by Ekeberg which reproduces the Central Pattern Generator observed in the real lamprey [Ekeberg 93]. In evolving artificial controllers, we demonstrate that a Genetic Algorithm can be an interesting design technique for neural controllers and that there exist alternative solutions to the biologica connectivitiy. A variety of neural controllers are evolved which can roduce the parttern of oscillations necessary for swimming. These patterns can be modulated through the external excitation applied to the network in order to vary the speed and the direction of swimming. The best evolved controllers cover large ranges of frequencies, phase lags and speeds of swimming than Ekeberg's model. We also show that the same techniques for evolving artificial solutions can be interesting tools for developing neurobiolobical models. In particular, biologically plausible controllers can be developed with ranges of oscillation frequency much closer to those observed in the real lamprey than Ekeberg's hand-crafted model.

[Search These Pages] [DAI Home Page] [Comment]