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. 2023 Oct 4;10:1232708. doi: 10.3389/frobt.2023.1232708

FIGURE 1.

FIGURE 1

Robot controllers and learning scheme. (A) Quadruped and hexapod CPG layouts. Each circle is a module, connections are to the module’s interneuron. All connections between modules are inhibitory. (B) Diagram of a single CPG module. Each circle is a modified Matsuoka neuron. Connections with arrows are unidirectional, otherwise bidirectional. All connections can be inhibitory or excitatory. (C) Diagram of the learning scheme. Selection between free (F), synchronization (S) and learned feedback (L) stages is depicted as a switch. Variables shown in red are parameters, variables in blue are time series. The input signal x T is the free output x F of another agent. LPF: low pass filter; LIF: leaky integrate-and-fire neuron; RNN: recurrent neural network of 6 fully connected modified Matsuoka neurons with inhibition, thresholded so there is no output in the absence of input. During synchronization, b(t) = 1 and during the feedback stage, each w i (t) is fixed.