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Connection and Coordination: The Interplay Between Architecture and Dynamics in Evolved Model Pattern Generators

sean.psujek{at}case.edu Department of Biology, Case Western Reserve University, Cleveland, OH 44106, U.S.A.

Jeffrey Ames

jca{at}cwru.edu Department of Electrical Engineering and Computer Science, Case Western Reserve University, Cleveland, OH 44106, U.S.A.

Randall D. Beer

beer{at}eecs.cwru.edu Department of Biology and Department of Electrical Engineering and Computer Science, Case Western Reserve University, Cleveland, OH 44106, U.S.A.

We undertake a systematic study of the role of neural architecture in shaping the dynamics of evolved model pattern generators for a walking task. First, we consider the minimum number of connections necessary to achieve high performance on this task. Next, we identify architectural motifs associated with high fitness. We then examine how high-fitness architectures differ in their ability to evolve. Finally, we demonstrate the existence of distinct parameter subgroups in some architectures and show that these subgroups are characterized by differences in neuron excitabilities and connection signs.

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