Harmonic Versus Chaos Controlled Oscillators in Hexapedal Locomotion

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  author =       "Luis A. Fuente and Michael A. Lones and 
                 Nigel T. Crook and Tjeerd V. Olde Scheper",
  title =        "Harmonic Versus Chaos Controlled Oscillators in
                 Hexapedal Locomotion",
  booktitle =    "10th International Conference on Information
                 Processing in Cells and Tissues, IPCAT 2015",
  year =         "2015",
  editor =       "Michael Lones and Andy Tyrrell and Stephen Smith and 
                 Gary Fogel",
  volume =       "9303",
  series =       "LNCS",
  pages =        "114--127",
  address =      "San Diego, CA, USA",
  month =        sep # " 14-16",
  publisher =    "Springer International Publishing",
  keywords =     "genetic algorithms, genetic programming",
  isbn13 =       "978-3-319-23108-2",
  DOI =          "doi:10.1007/978-3-319-23108-2_10",
  abstract =     "The behavioural diversity of chaotic oscillator can be
                 controlled into periodic dynamics and used to model
                 locomotion using central pattern generators. This paper
                 shows how controlled chaotic oscillators may improve
                 the adaptation of the robot locomotion behaviour to
                 terrain uncertainties when compared to nonlinear
                 harmonic oscillators. This is quantitatively assesses
                 by the stability, changes of direction and steadiness
                 of the robotic movements. Our results show that the
                 controlled Wu oscillator promotes the emergence of
                 adaptive locomotion when deterministic sensory feedback
                 is used. They also suggest that the chaotic nature of
                 chaos controlled oscillators increases the
                 expressiveness of pattern generators to explore new
                 locomotion gaits.",
  notes =        "Affiliated with Department of Computing and
                 Communication Technologies, Oxford Brookes University",

Genetic Programming entries for Luis A Fuente Michael A Lones Nigel T Crook Tjeerd V Olde Scheper