Fig. 4.

The protein folding robot. A multi-joint robot and its associated neural blocks have to learn to fold a peptide chain belonging to the HEs protein. The mechanical simulator is a chain of operative joints with independent muscles and neural controllability. The neural network receives sensor information and internal representation as input and produces folding information as output. The resultant robotic assembling and its driving agent must learn to fold a straighten chain into a 3D structure that comprises a cysteine-cysteine bond and an associate β-pleated sheet.