Research Article
Quadrupedal Robot Locomotion: A Biologically Inspired Approach and Its Hardware Implementation
Require: | Ensure: CPG design | () for all to do | () Configure the available signals for the th spiking neuron (). | () Set the initial state of the th spiking neuron. | () repeat | () Evolve both the connectivity and synaptic weights for the th spiking neuron by means of CGE. | () until Best Solution’s Fitness != Expected Error | () Store the CGE’s Best Solution for the th spiking neuron’s configuration. | () end for | () Integrate all configurations into a SNN. |
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