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Facilitating Controller Evolution in Morpho-functional Machines — A Bipedal Case Study
[chapter]
2003
Morpho-functional Machines: The New Species
Simulations of bipedal walking showed that the evolution of stable gaits can be greatly facilitated by harnessing design solutions inspired by those of biological organisms. Three such areas are addressed in this paper: a) the use of passive dynamics such as free-swinging lower legs, knee caps and springy ankles, b) proportional derivative controllers (or their variants) as actuators, and c) a modular, specifically coupled neural controller architecture. It is shown that an appropriate
doi:10.1007/978-4-431-67869-4_5
fatcat:xfs5ykfqnjg3tj3bvxuotm4vqm