Abstract:
:The ability to achieve high swimming speed and efficiency is very important to both the real lamprey and its robotic implementation. In previous studies, we used evolutionary algorithms to evolve biologically plausible connectionist swimming controllers for a simulated lamprey. This letter investigates the robustness and optimality of the best-evolved controllers as well as the biological controller hand-crafted by Ekeberg. Comparing cases of random variation in intrasegmental or intersegmental weights against each controller allows estimates of robustness to be made. We conduct experiments on the controllers' robustness at the excitation level, which corresponds to either the maximum swimming speed or efficiency by randomly varying the segmental connection weights and on some occasions also the intersegmental couplings, through varying noise ranges. Interestingly, although the swimming performance (in terms of maximum speed and efficiency) of the Ekeberg biological controller is not as good as that of the artificially evolved controllers, it is relatively robust against noise in the neural networks. This suggests that the natural evolutions have evolved a swimming controller that is good enough to survive in the real world. Our findings could inspire neurobiologists to conduct real physiological experiments to gain a better understanding on how neural connectivity affects behavior. The results can also be applied to control an artificial lamprey in simulation and possibly also a robotic one.
journal_name
Neural Computjournal_title
Neural computationauthors
Or Jdoi
10.1162/neco.2007.19.6.1568subject
Has Abstractpub_date
2007-06-01 00:00:00pages
1568-88issue
6eissn
0899-7667issn
1530-888Xjournal_volume
19pub_type
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journal_title:Neural computation
pub_type: 杂志文章
doi:10.1162/089976600300014872
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pub_type: 杂志文章
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journal_title:Neural computation
pub_type: 杂志文章
doi:10.1162/089976698300016954
更新日期:1998-11-15 00:00:00
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journal_title:Neural computation
pub_type: 杂志文章
doi:10.1162/089976600300014999
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journal_title:Neural computation
pub_type: 杂志文章
doi:10.1162/08997660152469341
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journal_title:Neural computation
pub_type: 杂志文章
doi:10.1162/089976600300015961
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pub_type: 杂志文章
doi:10.1162/neco.2007.19.9.2557
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journal_title:Neural computation
pub_type: 杂志文章
doi:10.1162/089976601317098529
更新日期:2001-12-01 00:00:00
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doi:10.1162/NECO_a_00051
更新日期:2010-12-01 00:00:00
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journal_title:Neural computation
pub_type: 杂志文章
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更新日期:2010-11-01 00:00:00
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journal_title:Neural computation
pub_type: 信件
doi:10.1162/neco.2008.05-07-532
更新日期:2008-10-01 00:00:00
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journal_title:Neural computation
pub_type: 杂志文章,评审
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更新日期:1995-09-01 00:00:00
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journal_title:Neural computation
pub_type: 杂志文章
doi:10.1162/NECO_a_00022
更新日期:2010-10-01 00:00:00
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journal_title:Neural computation
pub_type: 杂志文章
doi:10.1162/NECO_a_00889
更新日期:2016-11-01 00:00:00
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journal_title:Neural computation
pub_type: 杂志文章
doi:10.1162/neco.2009.02-09-956
更新日期:2010-03-01 00:00:00
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journal_title:Neural computation
pub_type: 杂志文章
doi:10.1162/089976601300014583
更新日期:2001-02-01 00:00:00
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journal_title:Neural computation
pub_type: 杂志文章
doi:10.1162/NECO_a_00533
更新日期:2014-01-01 00:00:00
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journal_title:Neural computation
pub_type: 杂志文章,评审
doi:10.1162/0899766053011555
更新日期:2005-02-01 00:00:00
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journal_title:Neural computation
pub_type: 信件
doi:10.1162/NECO_a_00066
更新日期:2011-01-01 00:00:00
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journal_title:Neural computation
pub_type: 杂志文章
doi:10.1162/neco.2008.02-07-478
更新日期:2008-04-01 00:00:00
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pub_type: 杂志文章,评审
doi:10.1162/089976699300016782
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journal_title:Neural computation
pub_type: 杂志文章
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更新日期:2007-04-01 00:00:00
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journal_title:Neural computation
pub_type: 杂志文章
doi:10.1162/NECO_a_00818
更新日期:2016-04-01 00:00:00
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journal_title:Neural computation
pub_type: 杂志文章
doi:10.1162/0899766054323017
更新日期:2005-09-01 00:00:00
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journal_title:Neural computation
pub_type: 杂志文章
doi:10.1162/089976602760407973
更新日期:2002-11-01 00:00:00
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journal_title:Neural computation
pub_type: 杂志文章
doi:10.1162/NECO_a_00862
更新日期:2016-09-01 00:00:00
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journal_title:Neural computation
pub_type: 杂志文章
doi:10.1162/NECO_a_00399
更新日期:2013-02-01 00:00:00
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journal_title:Neural computation
pub_type: 杂志文章
doi:10.1162/neco.2007.19.11.3088
更新日期:2007-11-01 00:00:00
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更新日期:2014-04-01 00:00:00