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Synchronization within Independent Neural Modules Controlling a Simulated Hexapod Robot

In this paper we illustrate a system consisting of a collection of identical neural modules, that communicate by exchanging signals, that control a simulated hexapod robot with twelve DOF. The evolved neural controllers display an ability to generalize their ability to different environmental and body conditions. Synchronization and phase differentiation between joints and legs is achieved through simple acceleration/deceleration mechanisms based on local interactions.