File:A-Theory-of-Cheap-Control-in-Embodied-Systems-pcbi.1004427.s007.ogv

English: Walking hexapod with m = 5. For the indicated value of m, 100 CRBMs were trained and the best one was chosen for presentation here. The right-hand side shows the walking behavior of two hexapods, of which one is opaque, while the second one is transparent. The transparent hexapod is controlled by the open-loop sinusoidal controller and displays the target behavior that was used to train the CRBMs. The behavior of the trained CRBM is shown in form of the opaque hexapod. We chose to include both behaviors in the video so that performance of the trained CRBM can be directly compared with the target behavior. The left-hand side in each video shows the internals of the CRBM. From top to bottom: The six squares with the moving blue lines show the raw sensor values for each leg, i.e., the angular values for the knee and shoulder joint over a period of 10 time steps (one second). Below, the activations of the CRBM neurons are shown in the following order (from top to bottom): input layer, hidden layer, output layer. A white box refers to an activation value of 1, while black refers to an activation of 0. The left-hand side is complete with the lower six squares which show how the binary output units translate to motor commands. The orange lines in each square on to the bottom show the motor commands for the knee and shoulder joint of one leg for 10 time steps (1 second).