Twickel, A. vonA. vonTwickelPasemann, F.F.Pasemann2022-03-102022-03-102005https://publica.fraunhofer.de/handle/publica/350041Legged locomotion has not been understood well enough to build walking machines that autonomously navigate through rough terrain. The current biological understanding of legged locomotion implies a highly decentralised and modular control structure. Neurocontrollers were developed for single, morphological distinct legs of a hexapod walking machine through artificial evolution and physical simulation. The results showed extremely small reflex-oscillators which inherently relied on the sensori-motor loop and a hysteresis effect. Relationships with biological findings are shortly discussed.en005006629conference paper