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However, those evolved controllers often exhibit behavioral instability, as simulation time is extended beyond the short limit used during evolution. In this paper, we propose constrained plastic models inspired by neural homeostasis phenomena, in order to evolve flexible and stable pattern generators for single-legged locomotion. Comparative results show that constrained controllers perform better than unconstrained ones in both terms of evolvability and behavioral stability. Functional analyses of the best evolved controller unveil the adaptivity, robustness and homeostasis arising from the statically constrained plasticity. Interestingly, homeostasis evolved implicitly without relying on any active homeostatic mechanisms and is implemented through hebbian plasticity, usually considered destabilizing.<\/jats:p>","DOI":"10.1177\/1059712311403631","type":"journal-article","created":{"date-parts":[[2011,5,16]],"date-time":"2011-05-16T23:59:54Z","timestamp":1305590394000},"page":"187-207","update-policy":"https:\/\/doi.org\/10.1177\/sage-journals-update-policy","source":"Crossref","is-referenced-by-count":7,"title":["Flexible and multistable pattern generation by evolving constrained plastic neurocontrollers"],"prefix":"10.1177","volume":"19","author":[{"given":"Thierry","family":"Hoinville","sequence":"first","affiliation":[{"name":"Italian Institute of Technology, Genoa, Italy,"}]},{"given":"Cecilia","family":"Tapia Siles","sequence":"additional","affiliation":[{"name":"Italian Institute of Technology, Genoa, Italy"}]},{"given":"Patrick","family":"H\u00e9naff","sequence":"additional","affiliation":[{"name":"ETIS, University of Cergy-Pontoise, France"}]}],"member":"179","published-online":{"date-parts":[[2011,5,16]]},"reference":[{"key":"atypb1","doi-asserted-by":"publisher","DOI":"10.1371\/journal.pcbi.0020094"},{"key":"atypb2","volume-title":"Proceedings of the International Conference on Genetic Algorithms and their Application","author":"Baker, J.E."},{"key":"atypb3","doi-asserted-by":"publisher","DOI":"10.1177\/105971239500300405"},{"key":"atypb4","doi-asserted-by":"publisher","DOI":"10.1162\/neco.2006.18.12.3009"},{"key":"atypb5","volume-title":"Saturation probabilities of continuous-time sigmoidal networks","author":"Beer, R.D.","year":"2010"},{"key":"atypb6","doi-asserted-by":"publisher","DOI":"10.1523\/JNEUROSCI.02-01-00032.1982"},{"key":"atypb7","volume-title":"Proceedings of the International Conference on the Simulation and Synthesis of Living Systems","author":"Bullock, S."},{"key":"atypb8","volume-title":"Proceedings of the International Conference on the Simulation of Adaptive Behavior, SAB2000","author":"Di Paolo, E.A."},{"issue":"548","key":"atypb9","author":"Di Paolo, E.A.","year":"2002","journal-title":"Cognitive Science Research Paper"},{"key":"atypb10","doi-asserted-by":"publisher","DOI":"10.1177\/1059712302010003006"},{"key":"atypb11","doi-asserted-by":"publisher","DOI":"10.1098\/rsta.2003.1256"},{"key":"atypb12","unstructured":"Doncieux, S. 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