Skip to main content
. 2017 Mar 8;11:12. doi: 10.3389/fnbot.2017.00012

Figure 6.

Figure 6

Neural network scheme: the top layer generates a stable gait pattern, whereas the bottom layer is constituted by additional sub-networks generating the specific reference signals for the leg joints. The network devoted to control a middle leg is reported. The parameter adapted during the learning process for the middle legs are indicated in red.