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One module is for processing sensor signals, one is a neural oscillator network serving as a central pattern generator, and the third one is a so-called velocity regulating network. These modules are small and their structures and their functionalities are analyzable. In combination, they enable the machines to autonomously explore an unknown environment, to avoid obstacles, and to escape from corners or deadlock situations. The neurocontroller was developed and tested first using a physical simulation environment, and then it was successfully transferred to the physical walking machines. Locomotion is based on a gait where the diagonal legs are paired and move together, e.g. trot gait for the four-legged walking machine and tripod gait for the six-legged walking machine. The controller developed is universal in the sense that it can easily be adapted to different types of even-legged walking machines without changing the internal structure and its parameters.<\/jats:p>","DOI":"10.1177\/0278364906076263","type":"journal-article","created":{"date-parts":[[2007,2,26]],"date-time":"2007-02-26T09:49:17Z","timestamp":1172483357000},"page":"301-331","source":"Crossref","is-referenced-by-count":28,"title":["Modular Reactive Neurocontrol for Biologically Inspired Walking Machines"],"prefix":"10.1177","volume":"26","author":[{"given":"Poramate","family":"Manoonpong","sequence":"first","affiliation":[{"name":"Fraunhofer Institut f\u00fcr Autonome Intelligente Systeme (AIS), Sankt Augustin, Germany; Bernstein Center for Computational, Neuroscience (BCCN), University of G\u00f6ttingen, Germany;"}],"role":[{"vocabulary":"crossref","role":"author"}]},{"given":"Frank","family":"Pasemann","sequence":"additional","affiliation":[{"name":"Fraunhofer Institut f\u00fcr Autonome Intelligente Systeme (AIS), Sankt Augustin, Germany;"}],"role":[{"vocabulary":"crossref","role":"author"}]},{"given":"Hubert","family":"Roth","sequence":"additional","affiliation":[{"name":"Institut f\u00fcr Regelungs und Steuerungstechnik (RST), University of Siegen, Germany;"}],"role":[{"vocabulary":"crossref","role":"author"}]}],"member":"179","published-online":{"date-parts":[[2007,3,1]]},"reference":[{"key":"atypb1","doi-asserted-by":"publisher","DOI":"10.1016\/0003-3472(64)90115-0"},{"key":"atypb2","doi-asserted-by":"publisher","DOI":"10.1016\/S0921-8890(03)00068-X"},{"key":"atypb3","first-page":"198","volume-title":"Proceedings of the 1988 SPIE Conference on Mobile Robots","author":"Anderson, T.L."},{"key":"atypb4","volume-title":"Behavior-based Robotics","author":"Arkin, R.C.","year":"1998"},{"key":"atypb5","doi-asserted-by":"publisher","DOI":"10.7551\/mitpress\/4962.003.0019"},{"key":"atypb6","volume-title":"Proceedings of the International Symposium on Aqua Biomechanisms","author":"Ayers, J."},{"key":"atypb7","volume-title":"Intelligence as Adaptive Behavior: An Experiment in Computational Neuroethology","author":"Beer, R.D.","year":"1990"},{"key":"atypb8","doi-asserted-by":"publisher","DOI":"10.1145\/245108.245118"},{"key":"atypb9","volume-title":"Biological Neural Networks in Invertebrate Neuroethology and Robotics","author":"Beer, R.D.","year":"1993"},{"key":"atypb10","first-page":"1172","volume-title":"Proceedings of the 1994 IEEE\/RSJ International Conference on Intelligent Robots and Systems","author":"Berns, K."},{"key":"atypb11","first-page":"167","volume-title":"Proceedings of the First International Symposium, CLAWAR' 98","author":"Berns, K."},{"key":"atypb12","doi-asserted-by":"publisher","DOI":"10.1109\/IJCNN.2000.859467"},{"key":"atypb13","first-page":"55","volume-title":"Proceedings of the 5th International Conference on Climbing and Walking Robots, CLAWAR' 02","author":"Breithaupt, R."},{"key":"atypb14","doi-asserted-by":"publisher","DOI":"10.1162\/neco.1989.1.2.253"},{"key":"atypb15","doi-asserted-by":"publisher","DOI":"10.1007\/BF00735340"},{"key":"atypb16","first-page":"3643","volume-title":"Proceedings of the IEEE International Conference on Robotics and Automation, ICRA","author":"Clark, J.E."},{"key":"atypb17","doi-asserted-by":"publisher","DOI":"10.1086\/BBLv189n2p231"},{"key":"atypb18","doi-asserted-by":"publisher","DOI":"10.1007\/s00422-001-0301-2"},{"key":"atypb19","doi-asserted-by":"publisher","DOI":"10.1007\/978-3-7091-2772-8_4"},{"key":"atypb20","doi-asserted-by":"publisher","DOI":"10.1016\/j.asd.2004.05.004"},{"key":"atypb21","first-page":"596","volume-title":"Proceedings of the IEEE International Conference on Robotics and Automation, ICRA","author":"Endo, G."},{"key":"atypb22","first-page":"771","volume-title":"Proceedings of the 7th European Conference on Artificial Life (ECAL)","author":"Fend, M."},{"key":"atypb23","first-page":"745","volume-title":"Proceedings of the Fourth Interational Symposium on Artificial Life and Robotics","author":"Filliat, D."},{"key":"atypb24","unstructured":"Fischer, J. 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