Evolutionary hexapod robot gait control using a new recurrent neural network learned through group-based hybrid metaheuristic algorithm

Abstract

This paper proposes a new recurrent neural network (RNN) structure evolved to control the gait of a hexapod robot for fast forward walking. In this evolutionary robot, the gait control problem is formulated as an optimization problem with the objective of a fast forward walking speed and a small deviation in the forward walking direction. Evolutionary optimization of the RNNs through a group-based hybrid metaheuristic algorithm is proposed to find the optimal RNN controller. Preliminary simulation results with comparisons show the advantage of the proposed approach1.