fly-cord-robots

Drives a simulated legged robot from the fly's ventral nerve cord, its spinal-cord equivalent, instead of a hand-designed gait, first on a hexapod, then on an amputated quadruped it never evolved for. The log is the interesting part: the published circuit science was reproduced, all six leg circuits identified and confirmed, a fly body built in physics simulation, and motor-neuron output moved real joints open loop. Then a pre-registered pilot closed the loop with proprioceptive feedback and found it either negligible or enough to drive the network into a runaway, non-rhythmic state.

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#hexapod#nerve-cord#central-pattern-generator#mujoco#pre-registration#malecns