Quadratic Leaky Integrate-and-Fire Neural Network Tuned with an Evolution-Strategy for a Simulated 3D Biped Walking Controller

This paper presents the results of experiments in applying a spiking neural network to control the locomotion of a simulated biped robot. The neural model used in simulations was developed to allow for an analytic solution to a neuron's fire time, while maintaining a non-instant post-synaptic potential rise time. The synaptic weights and delays were tuned using an evolution-strategy. Simulation experiments demonstrate that already within about two thousand generations the biped is able to acquire a dynamic walk which allows it to walk upright for several metres.