Neurally inspired octopod locomotion

M.Ing.A great deal of work has been done in the field of hexapodous autonomous agents. However, in this dissertation the locomotion of a more complex organism - the octopod - will be studied. Biological neural behaviour will present a basis for the leg controllers, while classic backpropagation networks will be used to implement pattern generators. Full simulation of the biological scorpion leg will be implemented, thus a simulated leg consisting of six joint angles with 6 degrees of freedom. Simple locomotion on a flat substrate will be considered. In this dissertation the scorpion will be used as basis of simulation mainly due to the interesting leg architecture and intricate locomotory patterns during locomotion, hunting and burrowing. The locomotory models developed here may be modified to facilitate other terrestial octopodous agents