%0 Journal Article
	%A Poramate Manoonpong and  Frank Pasemann and  Florentin Wörgötter
	%D 2007
	%J International Journal of Mechanical and Mechatronics Engineering
	%B World Academy of Science, Engineering and Technology
	%I Open Science Index 11, 2007
	%T Reactive Neural Control for Phototaxis and Obstacle Avoidance Behavior of Walking Machines
	%U https://publications.waset.org/pdf/11240
	%V 11
	%X This paper describes reactive neural control used to
generate phototaxis and obstacle avoidance behavior of walking
machines. It utilizes discrete-time neurodynamics and consists of
two main neural modules: neural preprocessing and modular neural
control. The neural preprocessing network acts as a sensory fusion
unit. It filters sensory noise and shapes sensory data to drive the
corresponding reactive behavior. On the other hand, modular neural
control based on a central pattern generator is applied for locomotion
of walking machines. It coordinates leg movements and can generate
omnidirectional walking. As a result, through a sensorimotor loop this
reactive neural controller enables the machines to explore a dynamic
environment by avoiding obstacles, turn toward a light source, and
then stop near to it.
	%P 657 - 662