From Adaptive Locomotion to Predictive Action Selection – Cognitive Control for a Six-Legged Walker

Locomotion in animals provides a model for adaptive behavior as it is able to deal with various kinds of perturbations. Work in insects suggests that this evolved flexibility results from a modular architecture, which can be characterized by a recurrent neural network allowing for various emerging attractor states. Whereas a lower control-level coordinates joint movements on a short timescale, a h...