This research was recently presented at Living Machines 2015. We have developed a way to train single joint networks without the simulation in the loop in order to achieve stable stepping behavior.
![](https://engineering.case.edu/sites/default/files/styles/_none/public/legcon4.png?itok=8ORGT1xb)
Single Joint Central Pattern Generator (CPG) – Pattern Formation (PF) – Motorneuron (MN) network.