Simulated 3D biped walking with an evolution-strategy tuned spiking neural network

Abstract

This paper presents the results of experiments in applying a spiking neural network to control the locomotion of a simulated biped robot. The neural model used in simulations was developed to allow for an analytic solution to a neuron’s fire time, while maintaining a non-instant post-synaptic potential rise time. The synaptic weights and delays were tuned using an evolution-strategy. Simulation experiments demonstrate that within about seven thousand generations the biped is able to acquire a dynamic walk which allows it to walk upright for several metres. 1