Artificial Growth and Developmental Plasticity: Part III

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Figure 3: In this image we can see details of the neural structure that has grown with the body of the robot. The black spheres correspond to the centres of the cells; the small dots correspond to neurons; the coloured lines correspond to synapses (blue = synapses emanating from sensor neurons; green = synapses emanating from internal neurons; red = synapses emanating from motor neurons); white lines correspond to hinge joints connecting neighbouring cells; black lines correspond to welded connections between neighbouring cells. Click here to see an animation showing the internal neural growth and activity of the wild type robot shown on the previous pages.

 

Figure 4: Above is an enlargement of one part of the agentís body. Here we see how a series of local neural circuits have grown, in which a single touch sensor neuron (the blue sphere) has innervated a motor neuron (the light red sphere); there are series of motor neurons that do not receive incoming signals, so do not contribute to the robotís behaviour.

 

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bongard@ifi.unizh.ch