{"id":"https://openalex.org/W1967738030","doi":"https://doi.org/10.1142/s021821300500251x","title":"AN EVOLVABLE HARDWARE LAYER FOR GLOBAL AND LOCAL LEARNING OF MOTOR CONTROL IN A HEXAPOD ROBOT","display_name":"AN EVOLVABLE HARDWARE LAYER FOR GLOBAL AND LOCAL LEARNING OF MOTOR CONTROL IN A HEXAPOD ROBOT","publication_year":2005,"publication_date":"2005-12-01","ids":{"openalex":"https://openalex.org/W1967738030","doi":"https://doi.org/10.1142/s021821300500251x","mag":"1967738030"},"language":"en","primary_location":{"id":"doi:10.1142/s021821300500251x","is_oa":false,"landing_page_url":"https://doi.org/10.1142/s021821300500251x","pdf_url":null,"source":{"id":"https://openalex.org/S178780388","display_name":"International Journal of Artificial Intelligence Tools","issn_l":"0218-2130","issn":["0218-2130","1793-6349"],"is_oa":false,"is_in_doaj":false,"is_core":true,"host_organization":"https://openalex.org/P4310319815","host_organization_name":"World Scientific","host_organization_lineage":["https://openalex.org/P4310319815"],"host_organization_lineage_names":["World Scientific"],"type":"journal"},"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"International Journal on Artificial Intelligence Tools","raw_type":"journal-article"},"type":"article","indexed_in":["crossref"],"open_access":{"is_oa":false,"oa_status":"closed","oa_url":null,"any_repository_has_fulltext":false},"authorships":[{"author_position":"first","author":{"id":"https://openalex.org/A5037448661","display_name":"John C. Gallagher","orcid":"https://orcid.org/0000-0002-5129-9183"},"institutions":[{"id":"https://openalex.org/I19648265","display_name":"Wright State University","ror":"https://ror.org/04qk6pt94","country_code":"US","type":"education","lineage":["https://openalex.org/I19648265"]}],"countries":["US"],"is_corresponding":true,"raw_author_name":"JOHN C. GALLAGHER","raw_affiliation_strings":["Department of Computer Science  and Engineering, Wright State University,  Dayton, Ohio 45435-0001, USA","Department of Computer Science and Engineering, Wright State University, Dayton, Ohio 45435-0001, USA"],"affiliations":[{"raw_affiliation_string":"Department of Computer Science  and Engineering, Wright State University,  Dayton, Ohio 45435-0001, USA","institution_ids":["https://openalex.org/I19648265"]},{"raw_affiliation_string":"Department of Computer Science and Engineering, Wright State University, Dayton, Ohio 45435-0001, USA","institution_ids":["https://openalex.org/I19648265"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":1,"corresponding_author_ids":["https://openalex.org/A5037448661"],"corresponding_institution_ids":["https://openalex.org/I19648265"],"apc_list":null,"apc_paid":null,"fwci":1.15034643,"has_fulltext":false,"cited_by_count":5,"citation_normalized_percentile":{"value":0.81634037,"is_in_top_1_percent":false,"is_in_top_10_percent":false},"cited_by_percentile_year":{"min":89,"max":94},"biblio":{"volume":"14","issue":"06","first_page":"999","last_page":"1017"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T11975","display_name":"Evolutionary Algorithms and Applications","score":0.9998999834060669,"subfield":{"id":"https://openalex.org/subfields/1702","display_name":"Artificial Intelligence"},"field":{"id":"https://openalex.org/fields/17","display_name":"Computer Science"},"domain":{"id":"https://openalex.org/domains/3","display_name":"Physical Sciences"}},"topics":[{"id":"https://openalex.org/T11975","display_name":"Evolutionary Algorithms and Applications","score":0.9998999834060669,"subfield":{"id":"https://openalex.org/subfields/1702","display_name":"Artificial Intelligence"},"field":{"id":"https://openalex.org/fields/17","display_name":"Computer Science"},"domain":{"id":"https://openalex.org/domains/3","display_name":"Physical Sciences"}},{"id":"https://openalex.org/T10320","display_name":"Neural Networks and Applications","score":0.989300012588501,"subfield":{"id":"https://openalex.org/subfields/1702","display_name":"Artificial Intelligence"},"field":{"id":"https://openalex.org/fields/17","display_name":"Computer Science"},"domain":{"id":"https://openalex.org/domains/3","display_name":"Physical Sciences"}},{"id":"https://openalex.org/T10462","display_name":"Reinforcement Learning in Robotics","score":0.9886000156402588,"subfield":{"id":"https://openalex.org/subfields/1702","display_name":"Artificial Intelligence"},"field":{"id":"https://openalex.org/fields/17","display_name":"Computer Science"},"domain":{"id":"https://openalex.org/domains/3","display_name":"Physical Sciences"}}],"keywords":[{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.8297698497772217},{"id":"https://openalex.org/keywords/hexapod","display_name":"Hexapod","score":0.7364479899406433},{"id":"https://openalex.org/keywords/evolvable-hardware","display_name":"Evolvable hardware","score":0.547431230545044},{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.521275520324707},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.5042959451675415},{"id":"https://openalex.org/keywords/neuromorphic-engineering","display_name":"Neuromorphic engineering","score":0.486218124628067},{"id":"https://openalex.org/keywords/evolutionary-robotics","display_name":"Evolutionary robotics","score":0.46252354979515076},{"id":"https://openalex.org/keywords/evolutionary-algorithm","display_name":"Evolutionary algorithm","score":0.42254188656806946},{"id":"https://openalex.org/keywords/field","display_name":"Field (mathematics)","score":0.41213613748550415},{"id":"https://openalex.org/keywords/artificial-neural-network","display_name":"Artificial neural network","score":0.3925287425518036},{"id":"https://openalex.org/keywords/control-engineering","display_name":"Control engineering","score":0.35677072405815125},{"id":"https://openalex.org/keywords/machine-learning","display_name":"Machine learning","score":0.35569512844085693},{"id":"https://openalex.org/keywords/distributed-computing","display_name":"Distributed computing","score":0.3389330506324768}],"concepts":[{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.8297698497772217},{"id":"https://openalex.org/C136434205","wikidata":"https://www.wikidata.org/wiki/Q3437269","display_name":"Hexapod","level":3,"score":0.7364479899406433},{"id":"https://openalex.org/C2776243922","wikidata":"https://www.wikidata.org/wiki/Q5418727","display_name":"Evolvable hardware","level":3,"score":0.547431230545044},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.521275520324707},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.5042959451675415},{"id":"https://openalex.org/C151927369","wikidata":"https://www.wikidata.org/wiki/Q1981312","display_name":"Neuromorphic engineering","level":3,"score":0.486218124628067},{"id":"https://openalex.org/C199505168","wikidata":"https://www.wikidata.org/wiki/Q3267529","display_name":"Evolutionary robotics","level":3,"score":0.46252354979515076},{"id":"https://openalex.org/C159149176","wikidata":"https://www.wikidata.org/wiki/Q14489129","display_name":"Evolutionary algorithm","level":2,"score":0.42254188656806946},{"id":"https://openalex.org/C9652623","wikidata":"https://www.wikidata.org/wiki/Q190109","display_name":"Field (mathematics)","level":2,"score":0.41213613748550415},{"id":"https://openalex.org/C50644808","wikidata":"https://www.wikidata.org/wiki/Q192776","display_name":"Artificial neural network","level":2,"score":0.3925287425518036},{"id":"https://openalex.org/C133731056","wikidata":"https://www.wikidata.org/wiki/Q4917288","display_name":"Control engineering","level":1,"score":0.35677072405815125},{"id":"https://openalex.org/C119857082","wikidata":"https://www.wikidata.org/wiki/Q2539","display_name":"Machine learning","level":1,"score":0.35569512844085693},{"id":"https://openalex.org/C120314980","wikidata":"https://www.wikidata.org/wiki/Q180634","display_name":"Distributed computing","level":1,"score":0.3389330506324768},{"id":"https://openalex.org/C33923547","wikidata":"https://www.wikidata.org/wiki/Q395","display_name":"Mathematics","level":0,"score":0.0},{"id":"https://openalex.org/C202444582","wikidata":"https://www.wikidata.org/wiki/Q837863","display_name":"Pure mathematics","level":1,"score":0.0},{"id":"https://openalex.org/C127413603","wikidata":"https://www.wikidata.org/wiki/Q11023","display_name":"Engineering","level":0,"score":0.0}],"mesh":[],"locations_count":1,"locations":[{"id":"doi:10.1142/s021821300500251x","is_oa":false,"landing_page_url":"https://doi.org/10.1142/s021821300500251x","pdf_url":null,"source":{"id":"https://openalex.org/S178780388","display_name":"International Journal of Artificial Intelligence Tools","issn_l":"0218-2130","issn":["0218-2130","1793-6349"],"is_oa":false,"is_in_doaj":false,"is_core":true,"host_organization":"https://openalex.org/P4310319815","host_organization_name":"World Scientific","host_organization_lineage":["https://openalex.org/P4310319815"],"host_organization_lineage_names":["World Scientific"],"type":"journal"},"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"International Journal on Artificial Intelligence Tools","raw_type":"journal-article"}],"best_oa_location":null,"sustainable_development_goals":[],"awards":[],"funders":[],"has_content":{"pdf":false,"grobid_xml":false},"content_urls":null,"referenced_works_count":21,"referenced_works":["https://openalex.org/W1497256448","https://openalex.org/W1544411383","https://openalex.org/W1578310495","https://openalex.org/W1578671836","https://openalex.org/W1978970913","https://openalex.org/W2041533382","https://openalex.org/W2044026582","https://openalex.org/W2058580716","https://openalex.org/W2062974695","https://openalex.org/W2102510699","https://openalex.org/W2105217850","https://openalex.org/W2108732866","https://openalex.org/W2112246162","https://openalex.org/W2116018119","https://openalex.org/W2144636407","https://openalex.org/W2146546081","https://openalex.org/W2148379945","https://openalex.org/W2154808242","https://openalex.org/W2171246116","https://openalex.org/W3023540311","https://openalex.org/W4213261160"],"related_works":["https://openalex.org/W1629725936","https://openalex.org/W2027638215","https://openalex.org/W117852110","https://openalex.org/W4361212942","https://openalex.org/W2015630562","https://openalex.org/W4302205049","https://openalex.org/W2949729158","https://openalex.org/W4229568052","https://openalex.org/W2810627076","https://openalex.org/W1967738030"],"abstract_inverted_index":{"The":[0],"use":[1],"of":[2,17,35,66,75,83,92,152],"Genetic":[3],"Algorithms":[4],"(GAs)":[5],"to":[6,30,33,86,118,130,167,183],"evolve":[7,87],"Continuous":[8],"Time":[9],"Recurrent":[10],"Neural":[11],"Networks":[12],"(CTRNNs)":[13],"for":[14],"locomotion":[15,172],"control":[16],"a":[18,93,103,127],"hexapod":[19],"robot":[20,54],"was":[21,45],"demonstrated":[22],"in":[23,188],"previous":[24,121,143],"work.":[25],"Those":[26],"controllers":[27,55,89],"were":[28,56],"shown":[29],"be":[31,116,165],"robust":[32],"loss":[34],"sensory":[36],"information":[37],"and":[38,42,80,111,160,170,185,190,195],"other":[39],"peripheral":[40],"variations":[41],"their":[43,67],"operation":[44],"explained":[46],"through":[47],"qualitative":[48],"dynamical":[49],"systems":[50,181],"analysis.":[51],"Although":[52],"real":[53,70],"fielded,":[57],"our":[58,142,158],"prior":[59],"methods":[60,134],"contained":[61],"drawbacks":[62],"limiting":[63],"the":[64,76,81,149,179],"attractiveness":[65],"implementation":[68],"as":[69,155,157],"devices.":[71],"These":[72],"included":[73],"centralization":[74],"evolutionary":[77],"learning":[78,109,197],"algorithms":[79,85],"inability":[82],"those":[84],"effective":[88,169],"without":[90],"inclusion":[91],"priori":[94],"architectural":[95],"knowledge.":[96],"In":[97],"this":[98],"paper,":[99],"we":[100],"will":[101,124,140,175,191],"introduce":[102,126,145],"generic":[104],"neuromorphic":[105],"Evolvable":[106],"Hardware":[107],"(EH)":[108],"architecture":[110],"show":[112,161],"how":[113,162],"it":[114,163],"can":[115,164],"used":[117,166],"overcome":[119],"these":[120],"difficulties.":[122],"We":[123,139,174],"also":[125],"novel":[128],"modification":[129],"previously":[131],"reported":[132],"EH":[133],"that":[135],"improves":[136],"search":[137],"efficacy.":[138],"discuss":[141],"work,":[144],"relevant":[146],"concepts":[147],"from":[148],"emerging":[150],"field":[151],"evolvable":[153],"hardware":[154],"well":[156],"chip,":[159],"deliver":[168],"practical":[171],"control.":[173],"focus":[176],"especially":[177],"on":[178],"integrated":[180],"abilities":[182],"self-heal":[184],"reconfigure":[186],"while":[187],"service":[189],"examine":[192],"centralized,":[193],"decentralized,":[194],"hybrid":[196],"configurations.":[198]},"counts_by_year":[{"year":2023,"cited_by_count":1},{"year":2012,"cited_by_count":1}],"updated_date":"2025-11-06T03:46:38.306776","created_date":"2025-10-10T00:00:00"}
